dresser sim chunk push: chunk_014

dresser/sim/chunk_014/chunk_log.txt

@@ -1,5 +1,25 @@
+chunk_id: 14
 chunk_pad: 014
-node: iliad5
-salvaged: 2026-05-18T15:06:52-07:00
-ntraj: 16
-note: rescued after stale-FD bash failure; sim data intact on /scr.
+seed: 20014
+samples_per_house: 12
+shard: 1 of 1
+node: iliad5.stanford.edu
+gpu: 0
+slurm_jobid: 15481766
+slurm_arrayid: 14
+t0: 2026-05-18T14:16:27-07:00
+t1: 2026-05-18T15:20:34-07:00
+ntraj: 21
+scene_dataset: ithor_minimal_dresser
+target_types: drawer
+object_instance_index: 0
+joint_index: 0
+camera_extrinsics: scripts/datagen/picked_camera_extrinsics.json
+camera_extrinsics_pos_noise: 0.05
+camera_extrinsics_rot_noise_deg: 5.0
+base_pose_sampling_radius_range: 0.8 1.1
+base_pose_sampling_theta_range_rad: 1.6 2.8
+robot_placement_rotation_range_rad: 0.5
+robot_base_z: 0.86
+robot_base_z_jitter: -0.2 -0.1
+robot_init_qpos_noise_range: 0.4 0.4 0.4 0.4 0.4 0.4 0.4

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dresser/sim/chunk_014/running_log.log

@@ -3320,3 +3320,770 @@
 05/18 15:06:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/18 15:06:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
 05/18 15:06:58 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:07:19 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_014	[pipeline.py: 1174]
+05/18 15:07:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:07:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:07:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:07:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_014	[save_utils.py: 785]
+05/18 15:07:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.23s (batch: 3.00s, save: 10.24s)	[pipeline.py: 300]
+05/18 15:07:32 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.34s:
+  episode_total: mean=39.49s, total=157.95s, count=4, min=422.5ms, max=150468.3ms
+  sensor_polling: mean=334.4ms, total=100.31s, count=300, min=285.2ms, max=572.6ms
+  save_trajectories: mean=10.24s, total=10.24s, count=1, min=10235.4ms, max=10235.4ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=21.2ms, max=37.5ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2996.1ms, max=2996.1ms
+  task_specific_sample: mean=436.8ms, total=1.75s, count=4, min=417.0ms, max=452.8ms
+  task_sampling: mean=446.7ms, total=1.34s, count=3, min=437.8ms, max=456.9ms
+  task_sampling_failed: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
+  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=544.1us, total=2.2ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:07:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:07:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:07:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:07:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:07:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:07:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185055m	[env.py: 870]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:07:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62536242 -0.73008515 -0.1850553 ] yaw=-84.1deg	[env.py: 1019]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26346005 -1.23037422 -0.1850553 ] yaw=-46.2deg	[env.py: 1019]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:07:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.2ms, total=269.3ms	[env.py: 1075]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.730, -0.185)	[env.py: 1079]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.1 deg	[env.py: 1082]
+05/18 15:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:07:34 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:07:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:07:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:07:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:07:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:07:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.040s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:07:38 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.784[m] 92.990[deg]	[grasp_sample.py: 596]
+05/18 15:07:39 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:07:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:07:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:07:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:07:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:07:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:07:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174606m	[env.py: 870]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:07:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15886249 -1.07136917 -0.17460555] yaw=-54.7deg	[env.py: 1019]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:07:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.8ms	[env.py: 1075]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.071, -0.175)	[env.py: 1079]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg	[env.py: 1082]
+05/18 15:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:07:41 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:07:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:07:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:07:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:07:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:07:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.701s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:07:43 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:07:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:07:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:07:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:07:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:07:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:07:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149467m	[env.py: 870]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:07:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1105]
+05/18 15:07:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 302]
+05/18 15:07:45 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/18 15:07:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:07:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:07:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:07:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:07:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:07:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156749m	[env.py: 870]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:07:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.3ms, total=198.3ms	[env.py: 1105]
+05/18 15:07:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 302]
+05/18 15:07:46 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/18 15:07:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:07:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:07:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:07:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:07:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:07:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163896m	[env.py: 870]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:07:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38840936 -0.98199826 -0.16389598] yaw=-53.0deg	[env.py: 1019]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.82550092 -0.80974305 -0.16389598] yaw=-88.9deg	[env.py: 1019]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06884549 -1.37073258 -0.16389598] yaw=6.2deg	[env.py: 1019]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:07:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.6ms, total=185.7ms	[env.py: 1075]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.982, -0.164)	[env.py: 1079]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg	[env.py: 1082]
+05/18 15:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:07:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:07:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:07:48 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:07:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:07:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:07:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:07:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:07:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.672s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:07:54 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.774[m] 116.849[deg]	[grasp_sample.py: 596]
+05/18 15:07:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:07:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:07:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:07:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:09:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:09:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:09:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:09:55 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:10:16 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_014	[pipeline.py: 1174]
+05/18 15:10:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:10:16 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/18 15:10:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:10:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_014	[save_utils.py: 785]
+05/18 15:10:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.12s (batch: 2.97s, save: 10.15s)	[pipeline.py: 300]
+05/18 15:10:30 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.45s:
+  episode_total: mean=34.16s, total=170.81s, count=5, min=202.1ms, max=161947.3ms
+  sensor_polling: mean=357.4ms, total=105.78s, count=296, min=293.6ms, max=581.3ms
+  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10147.1ms, max=10147.1ms
+  physics_step: mean=28.6ms, total=8.48s, count=296, min=21.4ms, max=37.3ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2970.5ms, max=2970.5ms
+  task_specific_sample: mean=368.5ms, total=1.84s, count=5, min=198.6ms, max=557.8ms
+  task_sampling: mean=483.2ms, total=1.45s, count=3, min=424.5ms, max=562.1ms
+  task_sampling_failed: mean=204.7ms, total=409.4ms, count=2, min=202.1ms, max=207.3ms
+  scene_randomize: mean=1.6ms, total=7.8ms, count=5, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=435.0us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:10:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120057m	[env.py: 870]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 1.08323605e-04 -1.21171802e+00 -1.20057341e-01] yaw=-3.8deg	[env.py: 1019]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00265012 -1.29539503 -0.12005734] yaw=-41.5deg	[env.py: 1019]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25777835 -1.06169494 -0.12005734] yaw=-63.5deg	[env.py: 1019]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.9ms, total=310.0ms	[env.py: 1075]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.000, -1.212, -0.120)	[env.py: 1079]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.8 deg	[env.py: 1082]
+05/18 15:10:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:32 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:10:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.092s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:10:35 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:10:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109925m	[env.py: 870]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27004315 -1.05285593 -0.10992502] yaw=-26.0deg	[env.py: 1019]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81362019 -0.88557833 -0.10992502] yaw=-97.5deg	[env.py: 1019]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35276889 -1.09411656 -0.10992502] yaw=-68.4deg	[env.py: 1019]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.7ms	[env.py: 1075]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.053, -0.110)	[env.py: 1079]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.0 deg	[env.py: 1082]
+05/18 15:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:37 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:10:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.834s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:10:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.850[m] 63.791[deg]	[grasp_sample.py: 596]
+05/18 15:10:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:10:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:10:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:10:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:11:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:11:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:11:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:12:30 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:12:51 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/dresser/sim_chunks/chunk_014	[pipeline.py: 1174]
+05/18 15:12:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:12:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:13:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:13:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_014	[save_utils.py: 785]
+05/18 15:13:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.30s (batch: 3.07s, save: 10.23s)	[pipeline.py: 300]
+05/18 15:13:05 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.01s:
+  episode_total: mean=76.22s, total=152.44s, count=2, min=3899.2ms, max=148541.1ms
+  sensor_polling: mean=332.2ms, total=99.65s, count=300, min=283.5ms, max=560.0ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10228.9ms, max=10228.9ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.5ms, max=32.4ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3066.4ms, max=3066.4ms
+  task_sampling: mean=505.6ms, total=1.01s, count=2, min=411.2ms, max=599.9ms
+  task_specific_sample: mean=501.8ms, total=1.00s, count=2, min=408.1ms, max=595.6ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=450.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:13:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120566m	[env.py: 870]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41112452 -0.93752048 -0.12056643] yaw=-75.9deg	[env.py: 1019]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8387814  -0.77403783 -0.12056643] yaw=-58.7deg	[env.py: 1019]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=207.5ms, total=207.6ms	[env.py: 1075]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.938, -0.121)	[env.py: 1079]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg	[env.py: 1082]
+05/18 15:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:13:07 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:13:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:13:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:13:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:13:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.723s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:13:10 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.902[m] 87.560[deg]	[grasp_sample.py: 596]
+05/18 15:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:13:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:13:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:13:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198559m	[env.py: 870]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24941139 -1.16901851 -0.19855869] yaw=-37.9deg	[env.py: 1019]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59632607 -0.98506941 -0.19855869] yaw=-76.8deg	[env.py: 1019]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.69004968 -0.72432439 -0.19855869] yaw=-100.7deg	[env.py: 1019]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.9ms, total=114.9ms	[env.py: 1075]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.169, -0.199)	[env.py: 1079]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg	[env.py: 1082]
+05/18 15:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:13:12 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:13:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:13:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:13:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:13:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:13:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.241s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:13:16 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.609[m] 101.020[deg]	[grasp_sample.py: 596]
+05/18 15:13:17 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:13:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:13:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:13:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:13:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:13:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:13:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174444m	[env.py: 870]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:13:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.82541229 -0.94006237 -0.17444431] yaw=-66.2deg	[env.py: 1019]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:13:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.825, -0.940, -0.174)	[env.py: 1079]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg	[env.py: 1082]
+05/18 15:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:13:19 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:13:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:13:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:13:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:13:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:13:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:13:20 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.624[m] 91.610[deg]	[grasp_sample.py: 596]
+05/18 15:13:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:13:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:13:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:13:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:13:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:13:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:13:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:13:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:13:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:13:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.268s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:13:45 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.528[m] 73.961[deg]	[grasp_sample.py: 596]
+05/18 15:13:46 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:13:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:13:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:13:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:13:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:13:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:13:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180053m	[env.py: 870]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:13:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33790124 -0.88751442 -0.18005349] yaw=-44.0deg	[env.py: 1019]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.80356383 -0.83007079 -0.18005349] yaw=-94.0deg	[env.py: 1019]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.83671319 -0.82752373 -0.18005349] yaw=-77.9deg	[env.py: 1019]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:13:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.7ms	[env.py: 1075]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -0.888, -0.180)	[env.py: 1079]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg	[env.py: 1082]
+05/18 15:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:13:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:13:48 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:13:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:13:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:13:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:13:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:13:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.807s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:13:51 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.898[m] 72.287[deg]	[grasp_sample.py: 596]
+05/18 15:13:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:13:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:13:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:13:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:15:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:15:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:15:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:15:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 285 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:15:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.772s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:15:17 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:15:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:15:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:15:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:15:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:15:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:15:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:15:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109204m	[env.py: 870]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:15:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32150083 -1.02221787 -0.10920407] yaw=-25.6deg	[env.py: 1019]
+05/18 15:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:15:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.7ms	[env.py: 1075]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.022, -0.109)	[env.py: 1079]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.6 deg	[env.py: 1082]
+05/18 15:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/18 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:15:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:15:19 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:15:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:15:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:15:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:15:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.156s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:15:29 INFO: [Worker 0] Feasible grasp found 253 (originally 253): w/ 0.993[m] 81.963[deg]	[grasp_sample.py: 596]
+05/18 15:15:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:15:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:15:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:16:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:16:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:16:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:17:06 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:17:27 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/dresser/sim_chunks/chunk_014	[pipeline.py: 1174]
+05/18 15:17:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:17:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:17:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_014	[save_utils.py: 785]
+05/18 15:17:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.26s (batch: 2.84s, save: 10.42s)	[pipeline.py: 300]
+05/18 15:17:41 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=2.12s:
+  episode_total: mean=53.79s, total=268.96s, count=5, min=4639.1ms, max=142260.2ms
+  sensor_polling: mean=292.6ms, total=155.93s, count=533, min=276.8ms, max=558.8ms
+  physics_step: mean=22.2ms, total=11.82s, count=533, min=16.5ms, max=26.1ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10424.3ms, max=10424.3ms
+  save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2839.7ms, max=2839.7ms
+  task_sampling: mean=424.0ms, total=2.12s, count=5, min=353.0ms, max=473.1ms
+  task_specific_sample: mean=420.3ms, total=2.10s, count=5, min=349.8ms, max=468.7ms
+  scene_randomize: mean=1.8ms, total=9.0ms, count=5, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=441.0us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:17:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:17:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:17:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:17:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:17:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:17:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:17:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167504m	[env.py: 870]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:17:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19988367 -1.21214305 -0.16750369] yaw=-45.9deg	[env.py: 1019]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:17:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms	[env.py: 1075]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.212, -0.168)	[env.py: 1079]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg	[env.py: 1082]
+05/18 15:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:17:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:17:43 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:17:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:17:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:17:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:17:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:17:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.244s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:17:50 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.847[m] 88.225[deg]	[grasp_sample.py: 596]
+05/18 15:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:17:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:17:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:17:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:18:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:18:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:19:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:19:35 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:19:56 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/dresser/sim_chunks/chunk_014	[pipeline.py: 1174]
+05/18 15:19:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:19:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:20:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:20:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_014	[save_utils.py: 785]
+05/18 15:20:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.08s (batch: 2.88s, save: 10.20s)	[pipeline.py: 300]
+05/18 15:20:09 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.48s:
+  episode_total: mean=147.20s, total=147.20s, count=1, min=147202.0ms, max=147202.0ms
+  sensor_polling: mean=303.1ms, total=90.94s, count=300, min=284.4ms, max=587.6ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10195.5ms, max=10195.5ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=16.4ms, max=28.2ms
+  save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2882.5ms, max=2882.5ms
+  task_sampling: mean=480.8ms, total=480.8ms, count=1, min=480.8ms, max=480.8ms
+  task_specific_sample: mean=477.3ms, total=477.3ms, count=1, min=477.3ms, max=477.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:20:11 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
+05/18 15:20:11 WARNING: [Worker 0] No trajectory data to save for chunk_014	[pipeline.py: 234]
+05/18 15:20:11 INFO: [Worker 0] Worker 0 completed house 1: 21/22 successful episodes	[pipeline.py: 1323]
+05/18 15:20:11 INFO: [Worker 0] [PROFILE] House 1 complete: 21/22 successful, 22 episodes, total_time=6299.46s
+  House averages:
+  episode_total: mean=51.37s, total=3698.78s, count=72, min=195.4ms, max=165065.9ms
+  sensor_polling: mean=312.8ms, total=2097.06s, count=6705, min=266.6ms, max=587.6ms
+  save_trajectories: mean=9.87s, total=207.23s, count=21, min=8310.3ms, max=10621.8ms
+  physics_step: mean=24.2ms, total=162.32s, count=6705, min=14.5ms, max=37.5ms
+  save_batch_prep: mean=2.99s, total=62.87s, count=21, min=2836.7ms, max=3414.0ms
+  task_sampling: mean=500.7ms, total=31.04s, count=62, min=341.0ms, max=3681.3ms
+  task_specific_sample: mean=415.6ms, total=29.92s, count=72, min=191.6ms, max=637.8ms
+  scene_load: mean=3.19s, total=3.19s, count=1, min=3186.7ms, max=3186.7ms
+  task_sampling_failed: mean=231.4ms, total=2.31s, count=10, min=195.4ms, max=422.5ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1704.5ms, max=1704.5ms
+  scene_compile: mean=1.29s, total=1.29s, count=1, min=1286.8ms, max=1286.8ms
+  compile_mujoco: mean=793.3ms, total=793.3ms, count=1, min=793.3ms, max=793.3ms
+  compile_xml_load: mean=400.4ms, total=400.4ms, count=1, min=400.4ms, max=400.4ms
+  scene_init: mean=132.7ms, total=132.7ms, count=1, min=132.7ms, max=132.7ms
+  scene_randomize: mean=1.7ms, total=123.1ms, count=72, min=1.2ms, max=3.1ms
+  scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  compile_aux_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms
+  compile_aux_policy_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms
+  asset_install_grasps: mean=39.8ms, total=39.8ms, count=1, min=39.8ms, max=39.8ms
+  mj_forward_sync: mean=443.2us, total=31.9ms, count=72, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=25.4ms, total=25.4ms, count=1, min=25.4ms, max=25.4ms
+  asset_install_objects: mean=19.0ms, total=19.0ms, count=1, min=19.0ms, max=19.0ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=15.2us, total=0.9ms, count=62, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/18 15:20:11 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/18 15:20:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=6299.46s
+  Worker averages:
+  episode_total: mean=51.37s, total=3698.78s, count=72, min=195.4ms, max=165065.9ms
+  sensor_polling: mean=312.8ms, total=2097.06s, count=6705, min=266.6ms, max=587.6ms
+  save_trajectories: mean=9.87s, total=207.23s, count=21, min=8310.3ms, max=10621.8ms
+  physics_step: mean=24.2ms, total=162.32s, count=6705, min=14.5ms, max=37.5ms
+  save_batch_prep: mean=2.99s, total=62.87s, count=21, min=2836.7ms, max=3414.0ms
+  task_sampling: mean=500.7ms, total=31.04s, count=62, min=341.0ms, max=3681.3ms
+  task_specific_sample: mean=415.6ms, total=29.92s, count=72, min=191.6ms, max=637.8ms
+  scene_load: mean=3.19s, total=3.19s, count=1, min=3186.7ms, max=3186.7ms
+  task_sampling_failed: mean=231.4ms, total=2.31s, count=10, min=195.4ms, max=422.5ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1704.5ms, max=1704.5ms
+  scene_compile: mean=1.29s, total=1.29s, count=1, min=1286.8ms, max=1286.8ms
+  compile_mujoco: mean=793.3ms, total=793.3ms, count=1, min=793.3ms, max=793.3ms
+  compile_xml_load: mean=400.4ms, total=400.4ms, count=1, min=400.4ms, max=400.4ms
+  scene_init: mean=132.7ms, total=132.7ms, count=1, min=132.7ms, max=132.7ms
+  scene_randomize: mean=1.7ms, total=123.1ms, count=72, min=1.2ms, max=3.1ms
+  scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  compile_aux_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms
+  compile_aux_policy_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms
+  asset_install_grasps: mean=39.8ms, total=39.8ms, count=1, min=39.8ms, max=39.8ms
+  mj_forward_sync: mean=443.2us, total=31.9ms, count=72, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=25.4ms, total=25.4ms, count=1, min=25.4ms, max=25.4ms
+  asset_install_objects: mean=19.0ms, total=19.0ms, count=1, min=19.0ms, max=19.0ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=15.2us, total=0.9ms, count=62, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/18 15:20:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/18 15:20:13 INFO: Success count: 21, Total count: 22	[pipeline.py: 1491]
+05/18 15:20:13 INFO: Success rate: 95.45%	[pipeline.py: 1492]

dresser/sim/chunk_014/trajectories_batch_1_of_1_cam_rand.h5

@@ -1,3 +1,3 @@
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+size 1516518761