dresser sim chunk push: chunk_011

dresser/sim/chunk_011/chunk_log.txt

@@ -1,5 +1,25 @@
+chunk_id: 11
 chunk_pad: 011
-node: iliad5
-salvaged: 2026-05-18T15:04:22-07:00
-ntraj: 13
-note: rescued after stale-FD bash failure; sim data intact on /scr.
+seed: 20011
+samples_per_house: 12
+shard: 1 of 1
+node: iliad5.stanford.edu
+gpu: 0
+slurm_jobid: 15481765
+slurm_arrayid: 11
+t0: 2026-05-18T14:16:29-07:00
+t1: 2026-05-18T15:12:07-07:00
+ntraj: 16
+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

dresser/sim/chunk_011/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989735e0b009b1ebbcad41d57bc2e996df4ddba2e7bf70e2e3f2844a5ea8b6e3
+size 332490

dresser/sim/chunk_011/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc87a5dccf83583e4b776929bd04d9e6e15b81266e9f1ca74f247f7c3687bf68
+size 295354

dresser/sim/chunk_011/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ca580d5a509c436f05a0bf995af6bba88b0418ae3a2a4ef5b5fb7257815d63
+size 441047

dresser/sim/chunk_011/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61dfb110e3182054d4f196069de16861a01d0e734479287a1fd1f4aee2bb4c5
+size 719572

dresser/sim/chunk_011/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e496910359f6c1a87b31b9759df6281f1efb48ec8e7db16b6c5c8a9ecca71bff
+size 222593

dresser/sim/chunk_011/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52dae7c13e46674fcb51a0e27d1dce3bc9fa29578e6cbfe3410ab96c3ed03815
+size 665470

dresser/sim/chunk_011/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac67981c75bb66c5eae8438f81d875a502d913895b1207a8e8907a3b9035ecc
+size 832689

dresser/sim/chunk_011/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a63a1b7257181396966d0ca0beaac3dec828c6910d668eab8a0e60eb3a10ad
+size 707027

dresser/sim/chunk_011/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951783c53aa4af8d188159a310a1cfe30c436fd9a8b4d798dcce0feeb9afb6db
+size 761218

dresser/sim/chunk_011/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f474941f0cc25991cfc34bdaa1e21732f053f423a9b7277091c723b0449f8ad
+size 556891

dresser/sim/chunk_011/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c69b75c1d4f3d65879bc4c6075125cc0898f5b22536f329861cd6a06b5c4155
+size 100245

dresser/sim/chunk_011/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8948f89585bd072dbed302740a1c37ad76fc830c32bb702d9acfac4939410835
+size 541606

dresser/sim/chunk_011/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025aa6a324a7d323f5640ba6eaf8d521c8f8a91abffadc7a0fc7d033d486f7ac
+size 477346

dresser/sim/chunk_011/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e7c7313e240c73180ba611d0befd6971b91245516dfebb2424cd34d56dbbc3
+size 402668

dresser/sim/chunk_011/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44e27c999c5e586ec161ca0ffe541eb9d7f74936d84aa22f2777d7e3c3806ed
+size 557635

dresser/sim/chunk_011/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21485a4446085a36c908416f5cb0934718d13b3f4a9ca9cb2bab3fe0d8d5250
+size 1109723

dresser/sim/chunk_011/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5deedb8640c161a950cd456e50d0c7e2d11b2ecb5285da56dd798021037662d1
+size 228709

dresser/sim/chunk_011/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a131ded4b4c3f0e40283cb26a4c755a55248cdb2f843bb219bda09e036bc34e
+size 707136

dresser/sim/chunk_011/running_log.log

@@ -3659,3 +3659,663 @@
 05/18 15:03:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
 05/18 15:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
 05/18 15:04:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:04:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:05:17 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:05:35 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/18 15:05:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:05:35 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/18 15:05:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:05:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_011	[save_utils.py: 785]
+05/18 15:05:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.37s (batch: 2.83s, save: 8.53s)	[pipeline.py: 300]
+05/18 15:05:47 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=6.86s:
+  episode_total: mean=19.34s, total=309.47s, count=16, min=3278.4ms, max=118921.5ms
+  sensor_polling: mean=318.9ms, total=143.83s, count=451, min=299.0ms, max=543.8ms
+  physics_step: mean=21.8ms, total=9.84s, count=451, min=14.3ms, max=26.4ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8532.8ms, max=8532.8ms
+  task_sampling: mean=428.8ms, total=6.86s, count=16, min=368.4ms, max=461.9ms
+  task_specific_sample: mean=425.9ms, total=6.81s, count=16, min=365.7ms, max=458.2ms
+  save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2832.9ms, max=2832.9ms
+  scene_randomize: mean=1.3ms, total=20.2ms, count=16, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=434.9us, total=7.0ms, count=16, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.2us, total=0.2ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:05:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:05:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:05:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:05:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:05:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:05:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:05:48 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 15:05:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:05:48 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 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199235m	[env.py: 870]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:05:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78430543 -0.81744987 -0.19923495] yaw=-96.4deg	[env.py: 1019]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74108494 -0.76957441 -0.19923495] yaw=-88.0deg	[env.py: 1019]
+05/18 15:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20761179 -1.0038026  -0.19923495] yaw=-21.1deg	[env.py: 1019]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms	[env.py: 1075]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.784, -0.817, -0.199)	[env.py: 1079]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.4 deg	[env.py: 1082]
+05/18 15:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/18 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:05:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:05:49 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:05:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:05:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:05:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:05:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:05:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.449s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:05:50 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.823[m] 47.306[deg]	[grasp_sample.py: 596]
+05/18 15:05:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:05:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:05:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:05:51 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 15:06:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:06:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:07:35 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:07:55 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/18 15:07:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:07:55 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/18 15:08:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:08:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_011	[save_utils.py: 785]
+05/18 15:08:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.83s (batch: 2.84s, save: 9.99s)	[pipeline.py: 300]
+05/18 15:08:09 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.48s:
+  episode_total: mean=140.20s, total=140.20s, count=1, min=140201.0ms, max=140201.0ms
+  sensor_polling: mean=320.5ms, total=93.92s, count=293, min=303.5ms, max=548.6ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9989.9ms, max=9989.9ms
+  physics_step: mean=22.4ms, total=6.55s, count=293, min=16.3ms, max=26.4ms
+  save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2836.8ms, max=2836.8ms
+  task_sampling: mean=479.7ms, total=479.7ms, count=1, min=479.7ms, max=479.7ms
+  task_specific_sample: mean=476.2ms, total=476.2ms, count=1, min=476.2ms, max=476.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=443.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:08:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:08:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:08:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:08:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:08:10 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 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179528m	[env.py: 870]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.76449406 -0.79154611 -0.17952799] yaw=-81.3deg	[env.py: 1019]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms	[env.py: 1075]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.764, -0.792, -0.180)	[env.py: 1079]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.3 deg	[env.py: 1082]
+05/18 15:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:08:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:08:10 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:08:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:08:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:08:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:08:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.546s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:08:13 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.659[m] 93.194[deg]	[grasp_sample.py: 596]
+05/18 15:08:14 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:08:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:08:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:08:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:08:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:08:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:08:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:08:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126245m	[env.py: 870]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:08:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45953903 -0.83313089 -0.12624518] yaw=-58.5deg	[env.py: 1019]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78278853 -0.94708499 -0.12624518] yaw=-76.3deg	[env.py: 1019]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.78364869 -0.73110368 -0.12624518] yaw=-102.8deg	[env.py: 1019]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:08:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms	[env.py: 1075]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.833, -0.126)	[env.py: 1079]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/18 15:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:08:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:08:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:08:16 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:08:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:08:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:08:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:08:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.983s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:08:25 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.730[m] 91.965[deg]	[grasp_sample.py: 596]
+05/18 15:08:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:08:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:08:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:08:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:09:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:09:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:09:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:10:05 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/18 15:10:25 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/18 15:10:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:10:25 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/18 15:10:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:10:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_011	[save_utils.py: 785]
+05/18 15:10:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.91s (batch: 2.82s, save: 9.09s)	[pipeline.py: 300]
+05/18 15:10:38 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.84s:
+  episode_total: mean=73.23s, total=146.45s, count=2, min=4414.0ms, max=142039.3ms
+  sensor_polling: mean=319.8ms, total=90.84s, count=284, min=293.7ms, max=514.5ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9086.3ms, max=9086.3ms
+  physics_step: mean=22.5ms, total=6.39s, count=284, min=16.4ms, max=30.6ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2819.8ms, max=2819.8ms
+  task_sampling: mean=421.2ms, total=842.4ms, count=2, min=370.3ms, max=472.1ms
+  task_specific_sample: mean=418.1ms, total=836.2ms, count=2, min=367.4ms, max=468.7ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=436.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, 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 15:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111600m	[env.py: 870]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.1° outside wedge [91.7°, 160.4��], rejecting...	[env.py: 969]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23763132 -0.99855533 -0.11160021] yaw=-39.0deg	[env.py: 1019]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.8ms	[env.py: 1075]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -0.999, -0.112)	[env.py: 1079]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg	[env.py: 1082]
+05/18 15:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:39 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:10:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:10:42 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:44 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 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148842m	[env.py: 870]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1962802  -1.04276735 -0.14884219] yaw=-43.1deg	[env.py: 1019]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.3ms	[env.py: 1075]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.196, -1.043, -0.149)	[env.py: 1079]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg	[env.py: 1082]
+05/18 15:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:44 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:10:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.680s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:10:47 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:10:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:48 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 15:10:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142902m	[env.py: 870]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45118803 -0.96505171 -0.14290171] yaw=-52.0deg	[env.py: 1019]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21080687 -0.92916092 -0.14290171] yaw=-68.4deg	[env.py: 1019]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms	[env.py: 1075]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.965, -0.143)	[env.py: 1079]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/18 15:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:49 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:10:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.091s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:10:53 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.747[m] 103.897[deg]	[grasp_sample.py: 596]
+05/18 15:10:54 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160735m	[env.py: 870]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.7ms, total=195.8ms	[env.py: 1105]
+05/18 15:10:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 302]
+05/18 15:10:56 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/18 15:10:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:10:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:10:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:10:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:10:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:10:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118295m	[env.py: 870]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:10:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.6413717  -0.84557821 -0.11829534] yaw=-95.2deg	[env.py: 1019]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16924981 -1.1222782  -0.11829534] yaw=-23.0deg	[env.py: 1019]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27214388 -1.02741827 -0.11829534] yaw=-27.9deg	[env.py: 1019]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:10:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.1ms, total=131.2ms	[env.py: 1075]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.846, -0.118)	[env.py: 1079]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.2 deg	[env.py: 1082]
+05/18 15:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:10:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:10:57 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:10:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:10:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:10:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:10:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.636s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:11:00 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.805[m] 124.535[deg]	[grasp_sample.py: 596]
+05/18 15:11:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:11:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:11:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:11:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:11:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:11:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:11:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:11:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:11:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:11:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.993s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:11:28 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.699[m] 98.779[deg]	[grasp_sample.py: 596]
+05/18 15:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:11:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:11:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150430m	[env.py: 870]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65885985 -0.6823887  -0.15042992] yaw=-57.2deg	[env.py: 1019]
+05/18 15:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02433807 -1.2748948  -0.15042992] yaw=-9.9deg	[env.py: 1019]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:11:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms	[env.py: 1075]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.659, -0.682, -0.150)	[env.py: 1079]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg	[env.py: 1082]
+05/18 15:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/18 15:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:11:31 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:11:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:11:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:11:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:11:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.645s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:11:34 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126651m	[env.py: 870]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55501892 -0.84807625 -0.12665088] yaw=-61.3deg	[env.py: 1019]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11879226 -1.16843628 -0.12665088] yaw=-24.9deg	[env.py: 1019]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=199.0ms, total=199.0ms	[env.py: 1075]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.848, -0.127)	[env.py: 1079]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/18 15:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:11:35 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:11:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:11:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:11:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:11:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.886s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:11:36 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.907[m] 79.383[deg]	[grasp_sample.py: 596]
+05/18 15:11:38 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:11:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:11:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:11:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:11:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:11:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:11:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153273m	[env.py: 870]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:11:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87888146 -0.65410682 -0.15327346] yaw=-66.3deg	[env.py: 1019]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19725206 -1.31198251 -0.15327346] yaw=-39.9deg	[env.py: 1019]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27187708 -1.04655444 -0.15327346] yaw=-38.3deg	[env.py: 1019]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.9ms, total=97.0ms	[env.py: 1075]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.879, -0.654, -0.153)	[env.py: 1079]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg	[env.py: 1082]
+05/18 15:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:11:39 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:11:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:11:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.671s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:11:42 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:11:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/18 15:11:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:11:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/18 15:11:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 195]
+05/18 15:11:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 204]
+05/18 15:11:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158332m	[env.py: 870]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/18 15:11:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17525383 -1.01002347 -0.15833182] yaw=-58.3deg	[env.py: 1019]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.03801974 -1.32886279 -0.15833182] yaw=-14.7deg	[env.py: 1019]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:11:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms	[env.py: 1075]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.010, -0.158)	[env.py: 1079]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/18 15:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:11:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1143]
+05/18 15:11:44 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:11:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:11:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:11:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:11:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:11:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.685s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:11:47 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:11:48 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/18 15:11:48 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/18 15:11:48 INFO: [Worker 0] Worker 0 completed house 1: 16/21 successful episodes	[pipeline.py: 1323]
+05/18 15:11:48 INFO: [Worker 0] [PROFILE] House 1 complete: 16/21 successful, 21 episodes, total_time=5341.46s
+  House averages:
+  episode_total: mean=44.40s, total=3196.57s, count=72, min=197.4ms, max=165216.6ms
+  sensor_polling: mean=327.5ms, total=1753.36s, count=5353, min=291.8ms, max=562.5ms
+  save_trajectories: mean=9.42s, total=150.73s, count=16, min=8502.2ms, max=10269.9ms
+  physics_step: mean=22.9ms, total=122.52s, count=5353, min=14.1ms, max=35.2ms
+  save_batch_prep: mean=2.86s, total=45.72s, count=16, min=2734.5ms, max=3109.2ms
+  task_sampling: mean=489.4ms, total=32.79s, count=67, min=317.9ms, max=3935.9ms
+  task_specific_sample: mean=419.7ms, total=30.22s, count=72, min=193.8ms, max=575.4ms
+  scene_load: mean=3.36s, total=3.36s, count=1, min=3357.7ms, max=3357.7ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1608.5ms, max=1608.5ms
+  scene_compile: mean=1.56s, total=1.56s, count=1, min=1564.9ms, max=1564.9ms
+  task_sampling_failed: mean=203.4ms, total=1.02s, count=5, min=197.4ms, max=208.4ms
+  compile_mujoco: mean=851.4ms, total=851.4ms, count=1, min=851.4ms, max=851.4ms
+  compile_xml_load: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
+  scene_init: mean=128.9ms, total=128.9ms, count=1, min=128.9ms, max=128.9ms
+  scene_randomize: mean=1.5ms, total=108.3ms, count=72, min=1.1ms, max=3.0ms
+  compile_aux_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_policy_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  scene_asset_install: mean=55.1ms, total=55.1ms, count=1, min=55.1ms, max=55.1ms
+  asset_install_grasps: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  mj_forward_sync: mean=438.3us, total=31.6ms, count=72, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=25.4ms, total=25.4ms, count=1, min=25.4ms, max=25.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=16.5us, total=1.1ms, count=67, 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 15:11:48 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/18 15:11:48 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 21 episodes, total_time=5341.46s
+  Worker averages:
+  episode_total: mean=44.40s, total=3196.57s, count=72, min=197.4ms, max=165216.6ms
+  sensor_polling: mean=327.5ms, total=1753.36s, count=5353, min=291.8ms, max=562.5ms
+  save_trajectories: mean=9.42s, total=150.73s, count=16, min=8502.2ms, max=10269.9ms
+  physics_step: mean=22.9ms, total=122.52s, count=5353, min=14.1ms, max=35.2ms
+  save_batch_prep: mean=2.86s, total=45.72s, count=16, min=2734.5ms, max=3109.2ms
+  task_sampling: mean=489.4ms, total=32.79s, count=67, min=317.9ms, max=3935.9ms
+  task_specific_sample: mean=419.7ms, total=30.22s, count=72, min=193.8ms, max=575.4ms
+  scene_load: mean=3.36s, total=3.36s, count=1, min=3357.7ms, max=3357.7ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1608.5ms, max=1608.5ms
+  scene_compile: mean=1.56s, total=1.56s, count=1, min=1564.9ms, max=1564.9ms
+  task_sampling_failed: mean=203.4ms, total=1.02s, count=5, min=197.4ms, max=208.4ms
+  compile_mujoco: mean=851.4ms, total=851.4ms, count=1, min=851.4ms, max=851.4ms
+  compile_xml_load: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
+  scene_init: mean=128.9ms, total=128.9ms, count=1, min=128.9ms, max=128.9ms
+  scene_randomize: mean=1.5ms, total=108.3ms, count=72, min=1.1ms, max=3.0ms
+  compile_aux_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_policy_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  scene_asset_install: mean=55.1ms, total=55.1ms, count=1, min=55.1ms, max=55.1ms
+  asset_install_grasps: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  mj_forward_sync: mean=438.3us, total=31.6ms, count=72, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=25.4ms, total=25.4ms, count=1, min=25.4ms, max=25.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=16.5us, total=1.1ms, count=67, 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 15:11:51 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/18 15:11:51 INFO: Success count: 16, Total count: 21	[pipeline.py: 1491]
+05/18 15:11:51 INFO: Success rate: 76.19%	[pipeline.py: 1492]

dresser/sim/chunk_011/trajectories_batch_1_of_1_cam_rand.h5

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc5ba143bec704fbfbd9019a9552b7b309722422f8786ea64bedda40f4a79acd
-size 888912283
+oid sha256:9341525e61e6bcdc1b534e5a1a6d9311cbb08200c0d16079e448e09a4d3dc536
+size 1082756865