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+++ b/3drawers/sim_chunks/chunk_005/running_log.log
@@ -0,0 +1,16347 @@
+05/13 20:36:10 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:36:10 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:36:10 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:36:10 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7278e67ba3d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 20052,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:36:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:36:10 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:36:10 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:36:10 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:36:10 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:36:10 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:36:10 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73ed4868c4d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 20053,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:36:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:36:10 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:36:10 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:36:10 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:36:10 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:36:10 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:36:10 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7fc8d33f1b10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 20054,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:36:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:36:10 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:36:10 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:36:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:36:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:36:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:36:12 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:36:12 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:36:12 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:36:12 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x754d4e9bfc90>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 20051,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:36:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:36:12 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:36:12 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:36:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:36:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:36:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:36:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:36:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:36:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:36:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:36:14 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:36:14 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:36:14 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:14 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:14 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: 256]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118285m	[env.py: 870]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184322m	[env.py: 870]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57887508 -1.01904784 -0.11828506] yaw=-45.7deg	[env.py: 1019]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:36:14 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59039205 -0.82286612 -0.11828506] yaw=-62.5deg	[env.py: 1019]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187904m	[env.py: 870]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22617595 -0.91242586 -0.11828506] yaw=-76.0deg	[env.py: 1019]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=20.9ms, retries=137.5ms, total=158.4ms	[env.py: 1075]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -1.019, -0.118)	[env.py: 1079]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg	[env.py: 1082]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=20.8ms, retries=237.2ms, total=257.9ms	[env.py: 1105]
+05/13 20:36:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35914877 -0.8876544  -0.18790369] yaw=-36.3deg	[env.py: 1019]
+05/13 20:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:36:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49577389 -0.87449376 -0.18790369] yaw=-78.3deg	[env.py: 1019]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:15 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=55.9ms, retries=362.8ms, total=418.7ms	[env.py: 1075]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.888, -0.188)	[env.py: 1079]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg	[env.py: 1082]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 20:36:15 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:15 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:36:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100048m	[env.py: 870]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12414326 -1.11407528 -0.100048  ] yaw=-54.2deg	[env.py: 1019]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16541969 -1.30888527 -0.100048  ] yaw=-35.8deg	[env.py: 1019]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=28.9ms, retries=238.7ms, total=267.6ms	[env.py: 1075]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.124, -1.114, -0.100)	[env.py: 1079]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg	[env.py: 1082]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:15 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:15 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:16 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: 256]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185304m	[env.py: 870]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23218984 -1.16688437 -0.18530435] yaw=-33.8deg	[env.py: 1019]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.7ms, total=217.7ms	[env.py: 1075]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.167, -0.185)	[env.py: 1079]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.8 deg	[env.py: 1082]
+05/13 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:16 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 35.758s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 36.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:52 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:52 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.633[m] 97.787[deg]	[grasp_sample.py: 539]
+05/13 20:36:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:36:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:36:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:36:55 INFO: [Worker 0] Warmed up parallel IK solver in 39.336s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:55 INFO: [Worker 0] Warmed up parallel IK solver in 38.374s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.102s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:36:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172428m	[env.py: 870]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90949785 -0.87798216 -0.17242845] yaw=-73.2deg	[env.py: 1019]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3900544  -0.83877741 -0.17242845] yaw=-72.9deg	[env.py: 1019]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=276.6ms, total=276.6ms	[env.py: 1075]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.909, -0.878, -0.172)	[env.py: 1079]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg	[env.py: 1082]
+05/13 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:58 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.319s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:59 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.593[m] 86.693[deg]	[grasp_sample.py: 539]
+05/13 20:36:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:00 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.761[m] 89.537[deg]	[grasp_sample.py: 539]
+05/13 20:37:02 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:37:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159065m	[env.py: 870]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.8ms, total=243.9ms	[env.py: 1105]
+05/13 20:37:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:37:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103203m	[env.py: 870]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82753184 -0.82082131 -0.10320272] yaw=-93.1deg	[env.py: 1019]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6663975  -0.7128952  -0.10320272] yaw=-98.2deg	[env.py: 1019]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.77202721 -0.73506423 -0.10320272] yaw=-82.4deg	[env.py: 1019]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.9ms, total=293.9ms	[env.py: 1075]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.828, -0.821, -0.103)	[env.py: 1079]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.1 deg	[env.py: 1082]
+05/13 20:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 20:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:06 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:07 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.174s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:07 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.699[m] 105.285[deg]	[grasp_sample.py: 539]
+05/13 20:37:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 13.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.667[m] 85.346[deg]	[grasp_sample.py: 539]
+05/13 20:37:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132927m	[env.py: 870]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.85418731 -0.70001379 -0.13292652] yaw=-90.6deg	[env.py: 1019]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44732739 -0.85536995 -0.13292652] yaw=-38.3deg	[env.py: 1019]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.9ms	[env.py: 1075]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.854, -0.700, -0.133)	[env.py: 1079]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.6 deg	[env.py: 1082]
+05/13 20:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:11 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:14 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.662s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:37:14 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:37:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153759m	[env.py: 870]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.86627925 -0.85321396 -0.15375941] yaw=-103.8deg	[env.py: 1019]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71934636 -0.92418052 -0.15375941] yaw=-64.3deg	[env.py: 1019]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07692327 -1.15914865 -0.15375941] yaw=-48.5deg	[env.py: 1019]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.5ms	[env.py: 1075]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.866, -0.853, -0.154)	[env.py: 1079]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.8 deg	[env.py: 1082]
+05/13 20:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:16 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:18 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:18 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.625[m] 88.651[deg]	[grasp_sample.py: 539]
+05/13 20:37:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:37:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:37:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:27 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.256s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:27 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.471[m] 66.450[deg]	[grasp_sample.py: 539]
+05/13 20:37:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:37:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:37:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:43 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.462[m] 64.906[deg]	[grasp_sample.py: 539]
+05/13 20:37:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:46 INFO: [Worker 0] Feasibility-checked 248 grasps in 7.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:46 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.585[m] 81.487[deg]	[grasp_sample.py: 539]
+05/13 20:37:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:37:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:37:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:57 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.462[m] 64.908[deg]	[grasp_sample.py: 539]
+05/13 20:37:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:37:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:37:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 7.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:07 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.585[m] 81.489[deg]	[grasp_sample.py: 539]
+05/13 20:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:10 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:38:10 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=4.40s:
+  episode_total: mean=120.06s, total=120.06s, count=1, min=120056.3ms, max=120056.3ms
+  sensor_polling: mean=421.8ms, total=33.32s, count=79, min=377.4ms, max=579.9ms
+  task_sampling: mean=4.40s, total=4.40s, count=1, min=4402.7ms, max=4402.7ms
+  scene_load: mean=3.86s, total=3.86s, count=1, min=3862.9ms, max=3862.9ms
+  scene_env_create: mean=2.32s, total=2.32s, count=1, min=2318.6ms, max=2318.6ms
+  physics_step: mean=21.1ms, total=1.67s, count=79, min=14.4ms, max=31.4ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1335.9ms, max=1335.9ms
+  compile_mujoco: mean=788.3ms, total=788.3ms, count=1, min=788.3ms, max=788.3ms
+  task_specific_sample: mean=536.6ms, total=536.6ms, count=1, min=536.6ms, max=536.6ms
+  compile_xml_load: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_init: mean=134.5ms, total=134.5ms, count=1, min=134.5ms, max=134.5ms
+  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  asset_install_grasps: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  asset_install_objects: mean=19.2ms, total=19.2ms, count=1, min=19.2ms, max=19.2ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=468.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=80.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/13 20:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159330m	[env.py: 870]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5379603  -0.80963651 -0.15932956] yaw=-60.8deg	[env.py: 1019]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22723938 -1.31668484 -0.15932956] yaw=-24.6deg	[env.py: 1019]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.70664984 -0.74857927 -0.15932956] yaw=-53.4deg	[env.py: 1019]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms	[env.py: 1075]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.810, -0.159)	[env.py: 1079]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 20:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:13 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.718[m] 82.736[deg]	[grasp_sample.py: 539]
+05/13 20:38:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:28 INFO: [Worker 0] Feasibility-checked 248 grasps in 8.373s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:28 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.585[m] 81.489[deg]	[grasp_sample.py: 539]
+05/13 20:38:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:38:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:38:43 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=5.57s:
+  episode_total: mean=49.64s, total=148.92s, count=3, min=255.2ms, max=97384.8ms
+  sensor_polling: mean=428.7ms, total=30.01s, count=70, min=375.1ms, max=493.7ms
+  task_sampling: mean=2.78s, total=5.57s, count=2, min=588.5ms, max=4981.3ms
+  scene_load: mean=4.09s, total=4.09s, count=1, min=4092.5ms, max=4092.5ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.0ms, max=2417.0ms
+  task_specific_sample: mean=573.6ms, total=1.72s, count=3, min=250.5ms, max=884.2ms
+  physics_step: mean=21.4ms, total=1.50s, count=70, min=14.5ms, max=54.5ms
+  scene_compile: mean=1.44s, total=1.44s, count=1, min=1443.7ms, max=1443.7ms
+  compile_mujoco: mean=768.9ms, total=768.9ms, count=1, min=768.9ms, max=768.9ms
+  compile_xml_load: mean=566.2ms, total=566.2ms, count=1, min=566.2ms, max=566.2ms
+  task_sampling_failed: mean=255.2ms, total=255.2ms, count=1, min=255.2ms, max=255.2ms
+  scene_init: mean=155.6ms, total=155.6ms, count=1, min=155.6ms, max=155.6ms
+  scene_asset_install: mean=75.8ms, total=75.8ms, count=1, min=75.8ms, max=75.8ms
+  compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  asset_install_grasps: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=493.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=38.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198258m	[env.py: 870]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30711715 -1.19989703 -0.19825815] yaw=-46.8deg	[env.py: 1019]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.83185865 -0.65127652 -0.19825815] yaw=-98.9deg	[env.py: 1019]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.2ms	[env.py: 1075]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -1.200, -0.198)	[env.py: 1079]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 20:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:45 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.586[m] 82.611[deg]	[grasp_sample.py: 539]
+05/13 20:38:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.229s, found 101 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:58 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.024[m] 4.428[deg]	[grasp_sample.py: 539]
+05/13 20:38:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:39:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:26 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:39:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:28 INFO: [Worker 0] Feasibility-checked 239 grasps in 1.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.166[m] 5.980[deg]	[grasp_sample.py: 539]
+05/13 20:39:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:34 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:44 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.193[m] 5.600[deg]	[grasp_sample.py: 539]
+05/13 20:39:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:39:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:50 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:39:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:39:50 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 20:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:40:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:40:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:00 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:40:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:40:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:40:01 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:01 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.186[m] 5.200[deg]	[grasp_sample.py: 539]
+05/13 20:40:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:40:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:40:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:40:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:40:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.01s, save: 9.60s)	[pipeline.py: 300]
+05/13 20:40:04 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.43s:
+  episode_total: mean=57.54s, total=230.14s, count=4, min=3388.6ms, max=168860.6ms
+  sensor_polling: mean=396.0ms, total=104.55s, count=264, min=377.2ms, max=668.1ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9604.4ms, max=9604.4ms
+  physics_step: mean=23.0ms, total=6.06s, count=264, min=16.5ms, max=67.2ms
+  task_sampling_failed: mean=4.56s, total=4.56s, count=1, min=4559.3ms, max=4559.3ms
+  scene_load: mean=4.29s, total=4.29s, count=1, min=4290.1ms, max=4290.1ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.5ms, max=4005.5ms
+  scene_env_create: mean=2.33s, total=2.33s, count=1, min=2332.9ms, max=2332.9ms
+  scene_compile: mean=1.76s, total=1.76s, count=1, min=1759.8ms, max=1759.8ms
+  task_specific_sample: mean=420.5ms, total=1.68s, count=4, min=263.9ms, max=540.0ms
+  task_sampling: mean=475.4ms, total=1.43s, count=3, min=364.1ms, max=542.3ms
+  compile_xml_load: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms
+  compile_mujoco: mean=778.4ms, total=778.4ms, count=1, min=778.4ms, max=778.4ms
+  scene_init: mean=130.8ms, total=130.8ms, count=1, min=130.8ms, max=130.8ms
+  scene_asset_install: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms
+  asset_install_objects: mean=17.4ms, total=17.4ms, count=1, min=17.4ms, max=17.4ms
+  asset_install_scene: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=438.1us, total=1.8ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187499m	[env.py: 870]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11670854 -1.16473108 -0.18749879] yaw=-43.1deg	[env.py: 1019]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.5ms, total=246.5ms	[env.py: 1075]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.165, -0.187)	[env.py: 1079]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg	[env.py: 1082]
+05/13 20:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 20:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:06 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:09 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.686s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:40:09 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107920m	[env.py: 870]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75036861 -0.81643311 -0.10792   ] yaw=-53.5deg	[env.py: 1019]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16616608 -1.25998732 -0.10792   ] yaw=-42.3deg	[env.py: 1019]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms	[env.py: 1075]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.750, -0.816, -0.108)	[env.py: 1079]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/13 20:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:11 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:14 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.765[m] 77.197[deg]	[grasp_sample.py: 539]
+05/13 20:40:15 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:40:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:40:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.29s (batch: 4.99s, save: 11.30s)	[pipeline.py: 300]
+05/13 20:40:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169138m	[env.py: 870]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.1ms, total=201.1ms	[env.py: 1105]
+05/13 20:40:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:40:17 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:40:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:40:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.36s:
+  episode_total: mean=121.79s, total=243.58s, count=2, min=43051.1ms, max=200526.4ms
+  sensor_polling: mean=429.2ms, total=128.76s, count=300, min=380.0ms, max=657.6ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11299.4ms, max=11299.4ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=16.6ms, max=58.7ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4992.0ms, max=4992.0ms
+  task_sampling: mean=2.18s, total=4.36s, count=2, min=617.8ms, max=3739.7ms
+  scene_load: mean=3.14s, total=3.14s, count=1, min=3140.6ms, max=3140.6ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1937.1ms, max=1937.1ms
+  task_specific_sample: mean=602.0ms, total=1.20s, count=2, min=594.9ms, max=609.1ms
+  scene_compile: mean=976.9ms, total=976.9ms, count=1, min=976.9ms, max=976.9ms
+  compile_mujoco: mean=628.6ms, total=628.6ms, count=1, min=628.6ms, max=628.6ms
+  compile_xml_load: mean=264.4ms, total=264.4ms, count=1, min=264.4ms, max=264.4ms
+  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_asset_install: mean=66.8ms, total=66.8ms, count=1, min=66.8ms, max=66.8ms
+  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=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms
+  scene_randomize: mean=4.3ms, total=8.5ms, count=2, min=2.0ms, max=6.5ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=620.0us, total=1.2ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=42.2us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:40:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:40:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.53s:
+  episode_total: mean=125.03s, total=125.03s, count=1, min=125025.3ms, max=125025.3ms
+  sensor_polling: mean=396.4ms, total=67.40s, count=170, min=369.7ms, max=670.3ms
+  physics_step: mean=22.7ms, total=3.85s, count=170, min=16.4ms, max=29.8ms
+  task_sampling: mean=526.2ms, total=526.2ms, count=1, min=526.2ms, max=526.2ms
+  task_specific_sample: mean=523.4ms, total=523.4ms, count=1, min=523.4ms, max=523.4ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=427.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, 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]
+05/13 20:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191241m	[env.py: 870]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64474354 -0.70782747 -0.19124096] yaw=-47.8deg	[env.py: 1019]
+05/13 20:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24915554 -1.10199086 -0.19124096] yaw=-61.5deg	[env.py: 1019]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms	[env.py: 1075]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.645, -0.708, -0.191)	[env.py: 1079]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg	[env.py: 1082]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:19 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:19 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: 256]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174062m	[env.py: 870]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26594198 -1.26034905 -0.17406243] yaw=-58.8deg	[env.py: 1019]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.1ms, total=226.2ms	[env.py: 1075]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.260, -0.174)	[env.py: 1079]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg	[env.py: 1082]
+05/13 20:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:20 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160068m	[env.py: 870]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29242446 -0.88299787 -0.16006771] yaw=-73.9deg	[env.py: 1019]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20055494 -1.00488351 -0.16006771] yaw=-17.5deg	[env.py: 1019]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32619166 -1.08757914 -0.16006771] yaw=-18.4deg	[env.py: 1019]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.3ms, total=194.4ms	[env.py: 1075]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -0.883, -0.160)	[env.py: 1079]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg	[env.py: 1082]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:21 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.809s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:40:22 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:40:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.624[m] 87.372[deg]	[grasp_sample.py: 539]
+05/13 20:40:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:40:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:40:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189303m	[env.py: 870]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14578653 -1.38867345 -0.18930259] yaw=-22.5deg	[env.py: 1019]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52645535 -1.02736223 -0.18930259] yaw=-85.4deg	[env.py: 1019]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28272851 -1.19296292 -0.18930259] yaw=-57.7deg	[env.py: 1019]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms	[env.py: 1075]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.389, -0.189)	[env.py: 1079]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.5 deg	[env.py: 1082]
+05/13 20:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/13 20:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:24 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:24 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.769s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:40:24 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:40:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:40:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:26 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.328s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:26 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.597[m] 82.620[deg]	[grasp_sample.py: 539]
+05/13 20:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:27 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: 256]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198732m	[env.py: 870]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31309216 -1.12851391 -0.19873151] yaw=-59.8deg	[env.py: 1019]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.87087039 -0.7824563  -0.19873151] yaw=-103.3deg	[env.py: 1019]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72611047 -0.84384987 -0.19873151] yaw=-80.6deg	[env.py: 1019]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=322.1ms, total=322.1ms	[env.py: 1075]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.129, -0.199)	[env.py: 1079]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/13 20:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:27 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:40:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189717m	[env.py: 870]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.83300098 -0.80859123 -0.1897169 ] yaw=-85.2deg	[env.py: 1019]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=402.3ms, total=402.3ms	[env.py: 1075]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.833, -0.809, -0.190)	[env.py: 1079]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.2 deg	[env.py: 1082]
+05/13 20:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 20:40:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:30 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:32 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:32 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.666[m] 98.643[deg]	[grasp_sample.py: 539]
+05/13 20:40:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:40:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:40:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:36 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:40:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 14.313s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:42 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.662[m] 87.832[deg]	[grasp_sample.py: 539]
+05/13 20:40:43 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:40:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175593m	[env.py: 870]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15612375 -1.32108365 -0.17559326] yaw=-20.2deg	[env.py: 1019]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.7ms, total=225.8ms	[env.py: 1075]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.321, -0.176)	[env.py: 1079]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.2 deg	[env.py: 1082]
+05/13 20:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:45 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:50 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:50 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.611[m] 82.514[deg]	[grasp_sample.py: 539]
+05/13 20:40:51 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140072m	[env.py: 870]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90359213 -0.80140843 -0.14007238] yaw=-74.5deg	[env.py: 1019]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.4ms, total=232.4ms	[env.py: 1075]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.904, -0.801, -0.140)	[env.py: 1079]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg	[env.py: 1082]
+05/13 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:53 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:55 INFO: [Worker 0] Feasibility-checked 247 grasps in 1.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:55 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.704[m] 85.943[deg]	[grasp_sample.py: 539]
+05/13 20:40:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:40:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:40:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:40:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:40:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:40:59 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 20:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:41:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:41:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:04 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.263s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:04 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.496[m] 68.197[deg]	[grasp_sample.py: 539]
+05/13 20:41:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:41:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:41:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.76s (batch: 4.62s, save: 11.14s)	[pipeline.py: 300]
+05/13 20:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:16 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.58s:
+  episode_total: mean=151.82s, total=151.82s, count=1, min=151821.4ms, max=151821.4ms
+  sensor_polling: mean=397.9ms, total=99.48s, count=250, min=360.0ms, max=622.5ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11142.3ms, max=11142.3ms
+  physics_step: mean=24.9ms, total=6.23s, count=250, min=16.6ms, max=66.1ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4615.1ms, max=4615.1ms
+  task_sampling: mean=579.1ms, total=579.1ms, count=1, min=579.1ms, max=579.1ms
+  task_specific_sample: mean=575.8ms, total=575.8ms, count=1, min=575.8ms, max=575.8ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=428.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183699m	[env.py: 870]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33070201 -0.97762009 -0.18369885] yaw=-73.6deg	[env.py: 1019]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21178176 -1.38063438 -0.18369885] yaw=-16.3deg	[env.py: 1019]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19328343 -1.1191247  -0.18369885] yaw=-16.8deg	[env.py: 1019]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=445.5ms, total=445.6ms	[env.py: 1075]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.978, -0.184)	[env.py: 1079]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg	[env.py: 1082]
+05/13 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:19 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:41:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:20 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.478[m] 64.704[deg]	[grasp_sample.py: 539]
+05/13 20:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:20 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.718[m] 99.848[deg]	[grasp_sample.py: 539]
+05/13 20:41:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:41:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:34 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:34 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.478[m] 64.708[deg]	[grasp_sample.py: 539]
+05/13 20:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:41:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:41:47 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:41:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=2.49s:
+  episode_total: mean=15.77s, total=94.62s, count=6, min=210.6ms, max=77940.7ms
+  sensor_polling: mean=399.7ms, total=32.37s, count=81, min=374.3ms, max=626.1ms
+  task_specific_sample: mean=445.9ms, total=2.68s, count=6, min=206.6ms, max=684.9ms
+  task_sampling: mean=497.0ms, total=2.49s, count=5, min=377.0ms, max=688.6ms
+  physics_step: mean=20.6ms, total=1.67s, count=81, min=14.3ms, max=28.2ms
+  task_sampling_failed: mean=210.6ms, total=210.6ms, count=1, min=210.6ms, max=210.6ms
+  scene_randomize: mean=1.6ms, total=9.7ms, count=6, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=432.2us, total=2.6ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104022m	[env.py: 870]
+05/13 20:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.76999697 -0.80742097 -0.10402186] yaw=-56.5deg	[env.py: 1019]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01956969 -1.31322155 -0.10402186] yaw=-0.2deg	[env.py: 1019]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=305.6ms, total=305.6ms	[env.py: 1075]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.770, -0.807, -0.104)	[env.py: 1079]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/13 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/13 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:49 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.245s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.774[m] 82.341[deg]	[grasp_sample.py: 539]
+05/13 20:41:55 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:41:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186711m	[env.py: 870]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=334.3ms, total=334.4ms	[env.py: 1105]
+05/13 20:41:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:41:57 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151352m	[env.py: 870]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.75373071 -0.65625388 -0.15135224] yaw=-66.4deg	[env.py: 1019]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms	[env.py: 1075]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.656, -0.151)	[env.py: 1079]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg	[env.py: 1082]
+05/13 20:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:01 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.814s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:42:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:42:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151074m	[env.py: 870]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34063661 -1.06531035 -0.15107394] yaw=-62.2deg	[env.py: 1019]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02340895 -1.20025496 -0.15107394] yaw=-53.0deg	[env.py: 1019]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.6ms, total=262.7ms	[env.py: 1075]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.065, -0.151)	[env.py: 1079]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg	[env.py: 1082]
+05/13 20:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:06 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:42:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:42:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 183 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.333s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:42:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.719[m] 88.038[deg]	[grasp_sample.py: 539]
+05/13 20:42:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:42:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:42:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:23 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:42:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:42:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:42:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:42:46 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 20:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:43:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:43:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.07s, save: 9.53s)	[pipeline.py: 300]
+05/13 20:43:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
+  episode_total: mean=161.77s, total=161.77s, count=1, min=161769.9ms, max=161769.9ms
+  sensor_polling: mean=429.9ms, total=110.92s, count=258, min=379.8ms, max=764.3ms
+  save_trajectories: mean=9.53s, total=9.53s, count=1, min=9533.6ms, max=9533.6ms
+  physics_step: mean=25.2ms, total=6.50s, count=258, min=17.2ms, max=97.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.2ms, max=4073.2ms
+  task_sampling: mean=531.4ms, total=531.4ms, count=1, min=531.4ms, max=531.4ms
+  task_specific_sample: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=440.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, 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]
+05/13 20:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150594m	[env.py: 870]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43743123 -1.11197702 -0.15059442] yaw=-60.2deg	[env.py: 1019]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.87328289 -0.92183523 -0.15059442] yaw=-68.3deg	[env.py: 1019]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:43:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.5ms, total=267.6ms	[env.py: 1075]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.112, -0.151)	[env.py: 1079]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg	[env.py: 1082]
+05/13 20:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 20:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:43:03 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:43:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:43:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:43:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.153s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:43:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.602[m] 79.716[deg]	[grasp_sample.py: 539]
+05/13 20:43:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:43:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:43:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:43:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:43:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:21 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:43:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:43:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:43:46 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 20:43:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:44:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:44:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.93s (batch: 4.19s, save: 9.74s)	[pipeline.py: 300]
+05/13 20:44:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.74s:
+  episode_total: mean=162.63s, total=162.63s, count=1, min=162630.9ms, max=162630.9ms
+  sensor_polling: mean=405.5ms, total=110.71s, count=273, min=373.3ms, max=768.5ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9737.9ms, max=9737.9ms
+  physics_step: mean=24.7ms, total=6.73s, count=273, min=16.8ms, max=40.9ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.4ms, max=4191.4ms
+  task_sampling: mean=740.2ms, total=740.2ms, count=1, min=740.2ms, max=740.2ms
+  task_specific_sample: mean=735.3ms, total=735.3ms, count=1, min=735.3ms, max=735.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=653.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.0us, 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]
+05/13 20:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111172m	[env.py: 870]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4855421  -0.77314507 -0.11117188] yaw=-72.3deg	[env.py: 1019]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53939964 -0.86956624 -0.11117188] yaw=-36.7deg	[env.py: 1019]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48161241 -0.9065532  -0.11117188] yaw=-39.3deg	[env.py: 1019]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.0ms, total=146.0ms	[env.py: 1075]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.773, -0.111)	[env.py: 1079]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg	[env.py: 1082]
+05/13 20:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:02 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:05 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.647s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188582m	[env.py: 870]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.68087478 -0.76164819 -0.18858159] yaw=-93.8deg	[env.py: 1019]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31870788 -0.83288385 -0.18858159] yaw=-60.2deg	[env.py: 1019]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.8954551  -0.86972342 -0.18858159] yaw=-72.2deg	[env.py: 1019]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=707.8ms, total=707.8ms	[env.py: 1075]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.681, -0.762, -0.189)	[env.py: 1079]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.8 deg	[env.py: 1082]
+05/13 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:08 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:44:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:14 INFO: [Worker 0] Feasibility-checked 243 grasps in 6.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:14 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.730[m] 97.919[deg]	[grasp_sample.py: 539]
+05/13 20:44:15 INFO: [Worker 0] Feasibility-checked 183 grasps in 125.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:15 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:44:15 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:44:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116399m	[env.py: 870]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.0ms, total=231.1ms	[env.py: 1105]
+05/13 20:44:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:44:17 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:44:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145397m	[env.py: 870]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39297129 -0.99435976 -0.14539656] yaw=-58.5deg	[env.py: 1019]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.8ms	[env.py: 1075]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -0.994, -0.145)	[env.py: 1079]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/13 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:18 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141949m	[env.py: 870]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34429314 -0.85712446 -0.14194864] yaw=-49.8deg	[env.py: 1019]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59807013 -0.83168927 -0.14194864] yaw=-68.9deg	[env.py: 1019]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.82526982 -0.64138969 -0.14194864] yaw=-94.7deg	[env.py: 1019]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms	[env.py: 1075]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -0.857, -0.142)	[env.py: 1079]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/13 20:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:20 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:22 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.695[m] 97.965[deg]	[grasp_sample.py: 539]
+05/13 20:44:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:44:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.558s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:23 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:44:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:44:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:44:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173112m	[env.py: 870]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59538684 -0.85160667 -0.17311177] yaw=-55.5deg	[env.py: 1019]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.86217425 -0.76644971 -0.17311177] yaw=-71.0deg	[env.py: 1019]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.3ms, total=243.4ms	[env.py: 1075]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.852, -0.173)	[env.py: 1079]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg	[env.py: 1082]
+05/13 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:25 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.680[m] 85.719[deg]	[grasp_sample.py: 539]
+05/13 20:44:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:44:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:44:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:44:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:44:32 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 20:44:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:44:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:44:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.22s (batch: 4.11s, save: 10.10s)	[pipeline.py: 300]
+05/13 20:44:47 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.78s:
+  episode_total: mean=42.90s, total=171.58s, count=4, min=348.9ms, max=161072.8ms
+  sensor_polling: mean=389.9ms, total=106.83s, count=274, min=374.4ms, max=683.2ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10102.7ms, max=10102.7ms
+  physics_step: mean=23.2ms, total=6.36s, count=274, min=17.7ms, max=31.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.5ms, max=4114.5ms
+  task_specific_sample: mean=528.8ms, total=2.12s, count=4, min=342.0ms, max=626.1ms
+  task_sampling: mean=594.7ms, total=1.78s, count=3, min=565.9ms, max=630.2ms
+  task_sampling_failed: mean=348.9ms, total=348.9ms, count=1, min=348.9ms, max=348.9ms
+  scene_randomize: mean=2.1ms, total=8.5ms, count=4, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=469.8us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.5us, total=0.1ms, 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]
+05/13 20:44:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:48 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: 256]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126113m	[env.py: 870]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09014984 -1.13181742 -0.12611328] yaw=-22.2deg	[env.py: 1019]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73280111 -0.74331563 -0.12611328] yaw=-52.5deg	[env.py: 1019]
+05/13 20:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60987104 -0.87325681 -0.12611328] yaw=-92.6deg	[env.py: 1019]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=301.4ms, total=301.4ms	[env.py: 1075]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.090, -1.132, -0.126)	[env.py: 1079]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.2 deg	[env.py: 1082]
+05/13 20:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 20:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:49 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:52 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.788s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:52 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:56 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: 256]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161414m	[env.py: 870]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71640936 -0.68678492 -0.16141403] yaw=-83.6deg	[env.py: 1019]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4538869  -1.03358691 -0.16141403] yaw=-76.6deg	[env.py: 1019]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24226609 -0.99743673 -0.16141403] yaw=-60.8deg	[env.py: 1019]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.3ms, total=192.4ms	[env.py: 1075]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.716, -0.687, -0.161)	[env.py: 1079]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.6 deg	[env.py: 1082]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:56 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:59 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.772s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:59 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:45:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113864m	[env.py: 870]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45101969 -1.03572036 -0.11386361] yaw=-78.0deg	[env.py: 1019]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.76675396 -0.87457457 -0.11386361] yaw=-84.9deg	[env.py: 1019]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17978624 -1.25307577 -0.11386361] yaw=-16.7deg	[env.py: 1019]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.8ms, total=467.9ms	[env.py: 1075]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -1.036, -0.114)	[env.py: 1079]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.0 deg	[env.py: 1082]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:01 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:06 INFO: [Worker 0] Feasibility-checked 244 grasps in 4.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:45:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.743[m] 91.484[deg]	[grasp_sample.py: 539]
+05/13 20:45:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:45:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:45:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:08 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:45:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:45:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:45:33 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 20:45:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:45:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:45:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:45:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:45:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.72s (batch: 4.78s, save: 10.94s)	[pipeline.py: 300]
+05/13 20:45:49 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=167.08s, total=167.08s, count=1, min=167075.6ms, max=167075.6ms
+  sensor_polling: mean=439.2ms, total=111.12s, count=253, min=390.6ms, max=734.8ms
+  save_trajectories: mean=10.94s, total=10.94s, count=1, min=10943.0ms, max=10943.0ms
+  physics_step: mean=24.6ms, total=6.22s, count=253, min=16.3ms, max=35.5ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4776.1ms, max=4776.1ms
+  task_sampling: mean=589.6ms, total=589.6ms, count=1, min=589.6ms, max=589.6ms
+  task_specific_sample: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=447.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.4us, 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]
+05/13 20:45:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117173m	[env.py: 870]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=490.0ms, total=490.1ms	[env.py: 1105]
+05/13 20:45:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:45:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113129m	[env.py: 870]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17879129 -1.02898539 -0.11312861] yaw=-45.5deg	[env.py: 1019]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.5ms, total=258.6ms	[env.py: 1075]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.029, -0.113)	[env.py: 1079]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg	[env.py: 1082]
+05/13 20:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:53 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:56 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.619s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:45:56 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:45:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:58 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: 256]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126720m	[env.py: 870]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.81732805 -0.87252419 -0.12672041] yaw=-83.1deg	[env.py: 1019]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34769241 -0.98639125 -0.12672041] yaw=-54.3deg	[env.py: 1019]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.88846931 -0.65666199 -0.12672041] yaw=-97.4deg	[env.py: 1019]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.1ms, total=279.1ms	[env.py: 1075]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.817, -0.873, -0.127)	[env.py: 1079]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.1 deg	[env.py: 1082]
+05/13 20:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:58 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:46:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:46:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.645[m] 86.345[deg]	[grasp_sample.py: 539]
+05/13 20:46:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:46:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:46:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:46:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:46:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:46:32 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:46:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:46:54 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 20:46:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:46:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:46:57 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 20:46:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:47:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:47:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:47:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:47:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.14s (batch: 4.25s, save: 9.89s)	[pipeline.py: 300]
+05/13 20:47:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.95s:
+  episode_total: mean=61.44s, total=184.32s, count=3, min=3352.9ms, max=172098.8ms
+  sensor_polling: mean=418.8ms, total=114.75s, count=274, min=370.5ms, max=786.2ms
+  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9890.7ms, max=9890.7ms
+  physics_step: mean=26.1ms, total=7.15s, count=274, min=17.1ms, max=63.5ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.6ms, max=4247.6ms
+  task_sampling: mean=649.6ms, total=1.95s, count=3, min=454.8ms, max=1003.1ms
+  task_specific_sample: mean=645.9ms, total=1.94s, count=3, min=450.5ms, max=1000.1ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=441.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:47:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:47:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132404m	[env.py: 870]
+05/13 20:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22723776 -1.31831736 -0.1324038 ] yaw=-12.1deg	[env.py: 1019]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71518567 -0.92933121 -0.1324038 ] yaw=-56.0deg	[env.py: 1019]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60582818 -0.70525044 -0.1324038 ] yaw=-86.6deg	[env.py: 1019]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms	[env.py: 1075]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.318, -0.132)	[env.py: 1079]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.1 deg	[env.py: 1082]
+05/13 20:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 20:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:11 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:47:12 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.207s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:12 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.639[m] 87.707[deg]	[grasp_sample.py: 539]
+05/13 20:47:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:47:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:47:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.22s (batch: 5.49s, save: 9.73s)	[pipeline.py: 300]
+05/13 20:47:14 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=3.10s:
+  episode_total: mean=57.29s, total=401.06s, count=7, min=243.1ms, max=202058.0ms
+  sensor_polling: mean=406.6ms, total=169.13s, count=416, min=367.4ms, max=706.6ms
+  physics_step: mean=24.0ms, total=9.99s, count=416, min=17.2ms, max=111.0ms
+  save_trajectories: mean=9.73s, total=9.73s, count=1, min=9726.6ms, max=9726.6ms
+  save_batch_prep: mean=5.49s, total=5.49s, count=1, min=5493.9ms, max=5493.9ms
+  task_specific_sample: mean=474.1ms, total=3.32s, count=7, min=237.3ms, max=646.1ms
+  task_sampling: mean=517.3ms, total=3.10s, count=6, min=476.7ms, max=651.1ms
+  task_sampling_failed: mean=243.0ms, total=243.0ms, count=1, min=243.0ms, max=243.0ms
+  scene_randomize: mean=1.8ms, total=12.4ms, count=7, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=456.7us, total=3.2ms, count=7, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.1us, total=0.2ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:47:14 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128898m	[env.py: 870]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14190551 -1.29540102 -0.12889791] yaw=-26.1deg	[env.py: 1019]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -1.295, -0.129)	[env.py: 1079]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.1 deg	[env.py: 1082]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141328m	[env.py: 870]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81568349 -0.65506934 -0.14132826] yaw=-109.2deg	[env.py: 1019]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29127709 -1.27643809 -0.14132826] yaw=-55.0deg	[env.py: 1019]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.91745395 -0.63940062 -0.14132826] yaw=-89.3deg	[env.py: 1019]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.0ms, total=200.1ms	[env.py: 1075]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.816, -0.655, -0.141)	[env.py: 1079]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.2 deg	[env.py: 1082]
+05/13 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:19 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.700s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:47:19 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:47:21 INFO: [Worker 0] Feasibility-checked 238 grasps in 4.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.696[m] 86.124[deg]	[grasp_sample.py: 539]
+05/13 20:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163055m	[env.py: 870]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=278.5ms, total=278.6ms	[env.py: 1105]
+05/13 20:47:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:47:22 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:24 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: 256]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157680m	[env.py: 870]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63439848 -0.94767936 -0.15768001] yaw=-85.4deg	[env.py: 1019]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.68878113 -0.77977775 -0.15768001] yaw=-61.9deg	[env.py: 1019]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.70158994 -0.72532902 -0.15768001] yaw=-50.7deg	[env.py: 1019]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.948, -0.158)	[env.py: 1079]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.4 deg	[env.py: 1082]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131854m	[env.py: 870]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:24 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6869593  -0.91163532 -0.13185406] yaw=-56.9deg	[env.py: 1019]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16415857 -1.19186388 -0.13185406] yaw=-10.4deg	[env.py: 1019]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.5ms, total=420.6ms	[env.py: 1075]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.687, -0.912, -0.132)	[env.py: 1079]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg	[env.py: 1082]
+05/13 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:25 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.168s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.677[m] 97.917[deg]	[grasp_sample.py: 539]
+05/13 20:47:28 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:47:28 INFO: [Worker 0] Feasibility-checked 243 grasps in 4.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.618[m] 103.962[deg]	[grasp_sample.py: 539]
+05/13 20:47:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:47:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:47:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:47:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105917m	[env.py: 870]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=297.6ms, total=297.7ms	[env.py: 1105]
+05/13 20:47:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:47:31 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162945m	[env.py: 870]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.72039823 -0.79987334 -0.16294528] yaw=-53.6deg	[env.py: 1019]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=322.8ms, total=322.8ms	[env.py: 1075]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.720, -0.800, -0.163)	[env.py: 1079]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/13 20:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 20:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:33 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:47:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:47:36 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 20:47:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.014s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.692[m] 83.814[deg]	[grasp_sample.py: 539]
+05/13 20:47:38 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:47:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127978m	[env.py: 870]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74942348 -0.71005497 -0.12797784] yaw=-98.6deg	[env.py: 1019]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21959879 -1.39700038 -0.12797784] yaw=2.6deg	[env.py: 1019]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41090261 -0.79172904 -0.12797784] yaw=-75.2deg	[env.py: 1019]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.1ms	[env.py: 1075]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.749, -0.710, -0.128)	[env.py: 1079]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg	[env.py: 1082]
+05/13 20:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:40 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:43 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.704s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:47:43 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:44 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: 256]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110138m	[env.py: 870]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13818454 -1.32609403 -0.11013799] yaw=-30.7deg	[env.py: 1019]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.1547683  -1.07136886 -0.11013799] yaw=-67.8deg	[env.py: 1019]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.1ms	[env.py: 1075]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.326, -0.110)	[env.py: 1079]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.7 deg	[env.py: 1082]
+05/13 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:45 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:47:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:47:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.66s (batch: 4.44s, save: 10.22s)	[pipeline.py: 300]
+05/13 20:47:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.85s:
+  episode_total: mean=59.17s, total=177.52s, count=3, min=3479.8ms, max=170363.1ms
+  sensor_polling: mean=401.7ms, total=111.66s, count=278, min=374.1ms, max=761.9ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10218.6ms, max=10218.6ms
+  physics_step: mean=23.3ms, total=6.46s, count=278, min=21.3ms, max=33.8ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.8ms, max=4439.8ms
+  task_sampling: mean=617.7ms, total=1.85s, count=3, min=491.9ms, max=741.9ms
+  task_specific_sample: mean=613.6ms, total=1.84s, count=3, min=487.5ms, max=738.3ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.7ms, max=2.6ms
+  mj_forward_sync: mean=481.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:47:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176711m	[env.py: 870]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38420242 -0.83077161 -0.17671131] yaw=-80.8deg	[env.py: 1019]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35976001 -1.00051652 -0.17671131] yaw=-69.0deg	[env.py: 1019]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms	[env.py: 1075]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.831, -0.177)	[env.py: 1079]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.8 deg	[env.py: 1082]
+05/13 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:53 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:56 INFO: [Worker 0] Feasibility-checked 244 grasps in 10.872s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:56 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.664[m] 89.685[deg]	[grasp_sample.py: 539]
+05/13 20:47:56 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.774s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:47:56 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:47:56 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 20:47:57 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:47:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124404m	[env.py: 870]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37709091 -1.10261086 -0.12440359] yaw=-20.1deg	[env.py: 1019]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14300097 -1.00644675 -0.12440359] yaw=-37.5deg	[env.py: 1019]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.3ms, total=465.3ms	[env.py: 1075]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.103, -0.124)	[env.py: 1079]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.1 deg	[env.py: 1082]
+05/13 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:58 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132125m	[env.py: 870]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23835901 -1.30804336 -0.13212507] yaw=-24.5deg	[env.py: 1019]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60875636 -0.92637529 -0.13212507] yaw=-76.3deg	[env.py: 1019]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.4ms, total=215.4ms	[env.py: 1075]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.308, -0.132)	[env.py: 1079]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.5 deg	[env.py: 1082]
+05/13 20:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:59 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:02 INFO: [Worker 0] Feasibility-checked 237 grasps in 2.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:02 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.603[m] 81.337[deg]	[grasp_sample.py: 539]
+05/13 20:48:04 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:48:04 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 20:48:04 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.259s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:04 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.657[m] 79.936[deg]	[grasp_sample.py: 539]
+05/13 20:48:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:48:05 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:48:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:06 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: 256]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148516m	[env.py: 870]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37570654 -1.05212702 -0.14851612] yaw=-72.1deg	[env.py: 1019]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72922444 -0.95426958 -0.14851612] yaw=-55.2deg	[env.py: 1019]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.3ms, total=234.4ms	[env.py: 1075]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.052, -0.149)	[env.py: 1079]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg	[env.py: 1082]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:07 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176285m	[env.py: 870]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16926568 -1.38122439 -0.17628524] yaw=-28.2deg	[env.py: 1019]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=428.8ms, total=428.8ms	[env.py: 1075]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.381, -0.176)	[env.py: 1079]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.2 deg	[env.py: 1082]
+05/13 20:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:08 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:13 INFO: [Worker 0] Feasibility-checked 233 grasps in 4.304s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:13 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.644[m] 86.683[deg]	[grasp_sample.py: 539]
+05/13 20:48:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:48:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:13 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.683[m] 89.311[deg]	[grasp_sample.py: 539]
+05/13 20:48:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:48:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184195m	[env.py: 870]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07307021 -1.13529303 -0.1841949 ] yaw=-60.2deg	[env.py: 1019]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09881267 -1.25900383 -0.1841949 ] yaw=-40.3deg	[env.py: 1019]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=350.5ms, total=350.6ms	[env.py: 1075]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.073, -1.135, -0.184)	[env.py: 1079]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg	[env.py: 1082]
+05/13 20:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:17 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.180s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:48:20 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:48:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192873m	[env.py: 870]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81466783 -0.73281217 -0.19287257] yaw=-60.9deg	[env.py: 1019]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50041229 -0.96015353 -0.19287257] yaw=-45.9deg	[env.py: 1019]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.7ms	[env.py: 1075]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.815, -0.733, -0.193)	[env.py: 1079]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/13 20:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:23 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:48:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:48:30 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 20:48:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:48:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:48:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:48:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.87s (batch: 4.35s, save: 9.52s)	[pipeline.py: 300]
+05/13 20:48:45 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.14s:
+  episode_total: mean=56.90s, total=170.69s, count=3, min=512.2ms, max=166716.4ms
+  sensor_polling: mean=422.1ms, total=111.01s, count=263, min=381.0ms, max=784.4ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9517.1ms, max=9517.1ms
+  physics_step: mean=25.0ms, total=6.57s, count=263, min=21.5ms, max=91.9ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4349.0ms, max=4349.0ms
+  task_specific_sample: mean=543.1ms, total=1.63s, count=3, min=498.5ms, max=566.9ms
+  task_sampling: mean=568.5ms, total=1.14s, count=2, min=566.5ms, max=570.6ms
+  task_sampling_failed: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=489.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:48:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128485m	[env.py: 870]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.9ms, total=199.9ms	[env.py: 1105]
+05/13 20:48:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:48:46 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:48 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: 256]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175307m	[env.py: 870]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.5ms, total=238.5ms	[env.py: 1105]
+05/13 20:48:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:48:48 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153900m	[env.py: 870]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2345247  -1.01418846 -0.15389981] yaw=-47.3deg	[env.py: 1019]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55121774 -0.78152076 -0.15389981] yaw=-65.1deg	[env.py: 1019]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.89453352 -0.87250329 -0.15389981] yaw=-63.3deg	[env.py: 1019]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.1ms	[env.py: 1075]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.014, -0.154)	[env.py: 1079]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/13 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 20:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:50 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 12.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:03 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172361m	[env.py: 870]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56147658 -0.70839444 -0.17236104] yaw=-84.5deg	[env.py: 1019]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63900339 -0.69650863 -0.17236104] yaw=-101.8deg	[env.py: 1019]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04732843 -1.35937807 -0.17236104] yaw=-43.5deg	[env.py: 1019]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=444.3ms, total=444.3ms	[env.py: 1075]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.708, -0.172)	[env.py: 1079]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.5 deg	[env.py: 1082]
+05/13 20:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 20:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:05 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.784s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:49:08 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:49:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117129m	[env.py: 870]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42868247 -1.06637715 -0.11712887] yaw=-76.4deg	[env.py: 1019]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24800558 -1.3347698  -0.11712887] yaw=-39.7deg	[env.py: 1019]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59300824 -0.96756307 -0.11712887] yaw=-47.3deg	[env.py: 1019]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=604.7ms, total=604.8ms	[env.py: 1075]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.066, -0.117)	[env.py: 1079]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.4 deg	[env.py: 1082]
+05/13 20:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:10 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:13 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.813s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.656[m] 102.367[deg]	[grasp_sample.py: 539]
+05/13 20:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:49:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:49:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:49:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 52.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:15 INFO: [Worker 0] Feasible grasp found 130 (originally 130): w/ 0.746[m] 88.332[deg]	[grasp_sample.py: 539]
+05/13 20:49:17 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:49:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164690m	[env.py: 870]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13068869 -1.1765512  -0.16469012] yaw=-27.2deg	[env.py: 1019]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.3ms, total=256.4ms	[env.py: 1075]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.131, -1.177, -0.165)	[env.py: 1079]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg	[env.py: 1082]
+05/13 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:19 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:24 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:49:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:49:25 INFO: [Worker 0] Feasibility-checked 236 grasps in 6.350s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:25 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148317m	[env.py: 870]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=205.7ms, total=205.7ms	[env.py: 1105]
+05/13 20:49:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:49:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147456m	[env.py: 870]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.2ms, total=198.2ms	[env.py: 1105]
+05/13 20:49:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:49:30 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:31 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: 256]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157285m	[env.py: 870]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32752074 -1.13090536 -0.15728534] yaw=-62.6deg	[env.py: 1019]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15322629 -1.41422393 -0.15728534] yaw=-23.3deg	[env.py: 1019]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.3ms, total=248.3ms	[env.py: 1075]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.131, -0.157)	[env.py: 1079]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg	[env.py: 1082]
+05/13 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:32 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.681[m] 82.876[deg]	[grasp_sample.py: 539]
+05/13 20:49:37 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146696m	[env.py: 870]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=375.0ms, total=375.1ms	[env.py: 1105]
+05/13 20:49:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:49:39 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:49:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137765m	[env.py: 870]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74308796 -0.86042285 -0.13776461] yaw=-48.6deg	[env.py: 1019]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=359.5ms, total=359.5ms	[env.py: 1075]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.743, -0.860, -0.138)	[env.py: 1079]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg	[env.py: 1082]
+05/13 20:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:41 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.173s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.680[m] 85.265[deg]	[grasp_sample.py: 539]
+05/13 20:49:45 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:49:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129529m	[env.py: 870]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10822551 -1.15221063 -0.12952924] yaw=-30.5deg	[env.py: 1019]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51020255 -0.78667324 -0.12952924] yaw=-77.9deg	[env.py: 1019]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=214.7ms, total=214.8ms	[env.py: 1075]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -1.152, -0.130)	[env.py: 1079]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg	[env.py: 1082]
+05/13 20:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:47 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.626s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:49:50 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:49:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:49:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:49:51 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 20:49:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:51 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: 256]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118423m	[env.py: 870]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.9ms, total=225.9ms	[env.py: 1105]
+05/13 20:49:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:49:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126517m	[env.py: 870]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53613919 -1.04166718 -0.12651733] yaw=-64.3deg	[env.py: 1019]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=190.2ms, total=190.3ms	[env.py: 1075]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -1.042, -0.127)	[env.py: 1079]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:49:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:49:54 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:49:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:49:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:49:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:49:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.590[m] 97.065[deg]	[grasp_sample.py: 539]
+05/13 20:49:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:49:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:49:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:49:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:50:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:50:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:50:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.38s (batch: 4.99s, save: 9.39s)	[pipeline.py: 300]
+05/13 20:50:06 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.04s:
+  episode_total: mean=55.32s, total=165.96s, count=3, min=292.0ms, max=162199.6ms
+  sensor_polling: mean=406.9ms, total=104.58s, count=257, min=370.7ms, max=706.9ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9391.9ms, max=9391.9ms
+  physics_step: mean=24.7ms, total=6.34s, count=257, min=18.0ms, max=95.1ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4985.6ms, max=4985.6ms
+  task_specific_sample: mean=437.7ms, total=1.31s, count=3, min=286.2ms, max=523.0ms
+  task_sampling: mean=519.3ms, total=1.04s, count=2, min=512.4ms, max=526.2ms
+  task_sampling_failed: mean=292.0ms, total=292.0ms, count=1, min=292.0ms, max=292.0ms
+  scene_randomize: mean=3.2ms, total=9.7ms, count=3, min=1.4ms, max=6.8ms
+  mj_forward_sync: mean=582.2us, total=1.7ms, count=3, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:50:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:50:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:50:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197073m	[env.py: 870]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33411675 -1.19120264 -0.19707253] yaw=-62.9deg	[env.py: 1019]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=699.0ms, total=699.1ms	[env.py: 1075]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.191, -0.197)	[env.py: 1079]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg	[env.py: 1082]
+05/13 20:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:50:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:50:09 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:50:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:50:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:50:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:50:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:50:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:50:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 93.590[deg]	[grasp_sample.py: 539]
+05/13 20:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:50:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:50:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:50:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:50:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:50:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:50:26 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:50:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:50:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:50:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:50:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:50:52 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 20:50:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:51:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:51:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:51:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:51:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 17.66s (batch: 6.33s, save: 11.33s)	[pipeline.py: 300]
+05/13 20:51:11 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=2.11s:
+  episode_total: mean=64.83s, total=194.49s, count=3, min=3580.7ms, max=183394.3ms
+  sensor_polling: mean=463.4ms, total=123.72s, count=267, min=381.9ms, max=815.9ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11328.9ms, max=11328.9ms
+  physics_step: mean=25.8ms, total=6.88s, count=267, min=17.1ms, max=67.7ms
+  save_batch_prep: mean=6.33s, total=6.33s, count=1, min=6326.5ms, max=6326.5ms
+  task_sampling: mean=703.0ms, total=2.11s, count=3, min=532.6ms, max=821.9ms
+  task_specific_sample: mean=698.7ms, total=2.10s, count=3, min=528.1ms, max=818.0ms
+  scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=535.5us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=29.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:51:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:51:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:51:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:51:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:51:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:51:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:51:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:51:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189123m	[env.py: 870]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:51:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67366028 -0.71488862 -0.1891226 ] yaw=-59.8deg	[env.py: 1019]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07354385 -1.26507421 -0.1891226 ] yaw=-1.1deg	[env.py: 1019]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.06244255 -1.33142889 -0.1891226 ] yaw=-43.4deg	[env.py: 1019]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=552.1ms, total=552.2ms	[env.py: 1075]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.674, -0.715, -0.189)	[env.py: 1079]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/13 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:51:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:51:14 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:51:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.193s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:51:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:51:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:51:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:51:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.705s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:51:17 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:51:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:51:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:51:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:51:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:51:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:51:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:51:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187744m	[env.py: 870]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:51:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1105]
+05/13 20:51:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:51:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129585m	[env.py: 870]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.78601432 -0.77865363 -0.12958533] yaw=-67.0deg	[env.py: 1019]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3906959  -0.85662546 -0.12958533] yaw=-36.4deg	[env.py: 1019]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=468.7ms, total=468.7ms	[env.py: 1075]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.786, -0.779, -0.130)	[env.py: 1079]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/13 20:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:51:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:51:22 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:51:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:51:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:51:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:51:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:51:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:51:30 INFO: [Worker 0] Feasibility-checked 244 grasps in 8.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:51:30 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.734[m] 95.105[deg]	[grasp_sample.py: 539]
+05/13 20:51:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:51:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:51:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:51:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:51:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:51:50 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 20:51:52 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:52:03 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:52:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:52:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:52:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.96s (batch: 4.69s, save: 11.27s)	[pipeline.py: 300]
+05/13 20:52:07 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=2.22s:
+  episode_total: mean=39.10s, total=195.51s, count=5, min=212.4ms, max=177783.8ms
+  sensor_polling: mean=448.2ms, total=116.99s, count=261, min=386.7ms, max=797.5ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11273.0ms, max=11273.0ms
+  physics_step: mean=26.3ms, total=6.85s, count=261, min=21.4ms, max=63.3ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4685.2ms, max=4685.2ms
+  task_specific_sample: mean=533.1ms, total=2.67s, count=5, min=206.8ms, max=877.8ms
+  task_sampling: mean=741.2ms, total=2.22s, count=3, min=621.4ms, max=880.2ms
+  task_sampling_failed: mean=230.5ms, total=460.9ms, count=2, min=212.4ms, max=248.5ms
+  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=445.7us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.1ms, 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]
+05/13 20:52:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143520m	[env.py: 870]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61442674 -0.79499796 -0.14351981] yaw=-51.0deg	[env.py: 1019]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.71169447 -0.68690325 -0.14351981] yaw=-74.6deg	[env.py: 1019]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21157242 -1.3182319  -0.14351981] yaw=-7.2deg	[env.py: 1019]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:52:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.2ms	[env.py: 1075]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.795, -0.144)	[env.py: 1079]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg	[env.py: 1082]
+05/13 20:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:52:09 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:52:15 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.777[m] 88.169[deg]	[grasp_sample.py: 539]
+05/13 20:52:16 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:52:16 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:52:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:52:16 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 20:52:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117833m	[env.py: 870]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52851922 -0.90672941 -0.11783341] yaw=-37.8deg	[env.py: 1019]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31473383 -1.21059519 -0.11783341] yaw=-67.9deg	[env.py: 1019]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:52:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.3ms, total=255.3ms	[env.py: 1075]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.907, -0.118)	[env.py: 1079]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg	[env.py: 1082]
+05/13 20:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:52:19 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:52:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:52:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:52:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:52:28 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
+05/13 20:52:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 10.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:52:29 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.718[m] 79.642[deg]	[grasp_sample.py: 539]
+05/13 20:52:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:52:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.64s (batch: 4.30s, save: 9.34s)	[pipeline.py: 300]
+05/13 20:52:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:52:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:52:31 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=8.97s:
+  episode_total: mean=14.35s, total=286.91s, count=20, min=209.1ms, max=157720.2ms
+  sensor_polling: mean=411.1ms, total=104.00s, count=253, min=368.2ms, max=705.1ms
+  task_specific_sample: mean=512.6ms, total=10.25s, count=20, min=205.6ms, max=900.1ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9335.1ms, max=9335.1ms
+  task_sampling: mean=598.1ms, total=8.97s, count=15, min=472.0ms, max=905.4ms
+  physics_step: mean=25.5ms, total=6.46s, count=253, min=18.2ms, max=35.7ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4303.5ms, max=4303.5ms
+  task_sampling_failed: mean=273.0ms, total=1.37s, count=5, min=209.1ms, max=386.1ms
+  scene_randomize: mean=1.8ms, total=36.6ms, count=20, min=1.1ms, max=5.4ms
+  mj_forward_sync: mean=478.9us, total=9.6ms, count=20, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.5us, total=0.4ms, count=15, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138434m	[env.py: 870]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.86976023 -0.83009694 -0.138434  ] yaw=-69.5deg	[env.py: 1019]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30186495 -1.05156139 -0.138434  ] yaw=-36.5deg	[env.py: 1019]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=217.3ms, total=217.3ms	[env.py: 1075]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.870, -0.830, -0.138)	[env.py: 1079]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg	[env.py: 1082]
+05/13 20:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 20:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:52:33 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:52:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:52:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.660[m] 81.248[deg]	[grasp_sample.py: 539]
+05/13 20:52:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:52:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:52:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:52:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:52:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:52:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:52:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.17s (batch: 4.46s, save: 9.71s)	[pipeline.py: 300]
+05/13 20:52:43 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.03s:
+  episode_total: mean=155.08s, total=155.08s, count=1, min=155079.8ms, max=155079.8ms
+  sensor_polling: mean=411.7ms, total=102.52s, count=249, min=369.3ms, max=778.2ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9708.7ms, max=9708.7ms
+  physics_step: mean=25.2ms, total=6.27s, count=249, min=16.5ms, max=69.8ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.2ms, max=4459.2ms
+  task_sampling: mean=1.03s, total=1.03s, count=1, min=1029.8ms, max=1029.8ms
+  task_specific_sample: mean=1.03s, total=1.03s, count=1, min=1025.7ms, max=1025.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151929m	[env.py: 870]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39683    -0.88134924 -0.15192864] yaw=-56.2deg	[env.py: 1019]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24306157 -1.1493908  -0.15192864] yaw=-63.5deg	[env.py: 1019]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52592728 -0.89740238 -0.15192864] yaw=-58.9deg	[env.py: 1019]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms	[env.py: 1075]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.881, -0.152)	[env.py: 1079]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg	[env.py: 1082]
+05/13 20:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:52:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:52:45 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:52:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:52:51 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.768[m] 88.603[deg]	[grasp_sample.py: 539]
+05/13 20:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:52:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:52:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:52:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139898m	[env.py: 870]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=549.9ms, total=550.0ms	[env.py: 1105]
+05/13 20:52:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:52:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:52:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:52:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:52:56 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: 256]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127290m	[env.py: 870]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82320486 -0.9226678  -0.1272903 ] yaw=-91.1deg	[env.py: 1019]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48828088 -0.88295717 -0.1272903 ] yaw=-48.1deg	[env.py: 1019]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65898708 -0.8003166  -0.1272903 ] yaw=-88.4deg	[env.py: 1019]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.2ms	[env.py: 1075]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.923, -0.127)	[env.py: 1079]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.1 deg	[env.py: 1082]
+05/13 20:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:52:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:52:57 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:52:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:52:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:52:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:52:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:52:58 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:52:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.601[m] 102.661[deg]	[grasp_sample.py: 539]
+05/13 20:52:59 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:52:59 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 20:53:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:53:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:53:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:53:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:53:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:53:01 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: 256]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157293m	[env.py: 870]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:53:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90375382 -0.80985739 -0.15729334] yaw=-104.3deg	[env.py: 1019]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4593363  -0.87223634 -0.15729334] yaw=-56.8deg	[env.py: 1019]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:53:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=330.7ms, total=330.8ms	[env.py: 1075]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.904, -0.810, -0.157)	[env.py: 1079]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.3 deg	[env.py: 1082]
+05/13 20:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:53:02 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:03 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.217s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:03 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.706[m] 94.018[deg]	[grasp_sample.py: 539]
+05/13 20:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:53:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:53:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:08 INFO: [Worker 0] Feasibility-checked 242 grasps in 16.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:08 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.068[m] 5.550[deg]	[grasp_sample.py: 539]
+05/13 20:53:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:53:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:53:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:53:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:53:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:53:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:39 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:39 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.519[m] 63.760[deg]	[grasp_sample.py: 539]
+05/13 20:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:53:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:53:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 18.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:43 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.068[m] 7.214[deg]	[grasp_sample.py: 539]
+05/13 20:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:44 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:53:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:53:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:53:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:53:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:53:46 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: 256]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149175m	[env.py: 870]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:53:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15786765 -1.28108214 -0.14917459] yaw=-38.9deg	[env.py: 1019]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29501047 -1.11258762 -0.14917459] yaw=-52.4deg	[env.py: 1019]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09023566 -1.34926028 -0.14917459] yaw=-32.6deg	[env.py: 1019]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:53:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.0ms, total=175.1ms	[env.py: 1075]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.281, -0.149)	[env.py: 1079]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg	[env.py: 1082]
+05/13 20:53:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:53:46 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:53:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:53:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:48 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.073s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.658[m] 85.403[deg]	[grasp_sample.py: 539]
+05/13 20:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:49 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:53:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:53:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102047m	[env.py: 870]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20587526 -1.29355255 -0.10204654] yaw=-22.6deg	[env.py: 1019]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.83558306 -0.88918261 -0.10204654] yaw=-97.5deg	[env.py: 1019]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41707996 -1.12948799 -0.10204654] yaw=-71.8deg	[env.py: 1019]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.5ms, total=158.6ms	[env.py: 1075]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.294, -0.102)	[env.py: 1079]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.6 deg	[env.py: 1082]
+05/13 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:53:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:53:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:53:51 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:53:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 133 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:53:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:53:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:53:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:53:54 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.684[m] 76.872[deg]	[grasp_sample.py: 539]
+05/13 20:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:53:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:53:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:53:55 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.514[m] 63.010[deg]	[grasp_sample.py: 539]
+05/13 20:53:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:53:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:53:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:53:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:54:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:54:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:54:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:54:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:54:12 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:54:12 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.514[m] 63.011[deg]	[grasp_sample.py: 539]
+05/13 20:54:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:54:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:54:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:54:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:54:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:54:27 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:54:27 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.53s:
+  episode_total: mean=24.41s, total=97.65s, count=4, min=564.6ms, max=86307.6ms
+  sensor_polling: mean=424.5ms, total=35.24s, count=83, min=384.0ms, max=718.3ms
+  task_specific_sample: mean=519.5ms, total=2.08s, count=4, min=453.9ms, max=581.3ms
+  physics_step: mean=22.3ms, total=1.85s, count=83, min=14.5ms, max=29.1ms
+  task_sampling: mean=510.9ms, total=1.53s, count=3, min=458.0ms, max=585.1ms
+  task_sampling_failed: mean=564.6ms, total=564.6ms, count=1, min=564.6ms, max=564.6ms
+  scene_randomize: mean=2.3ms, total=9.3ms, count=4, min=1.9ms, max=2.6ms
+  mj_forward_sync: mean=472.0us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.2us, total=0.1ms, 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]
+05/13 20:54:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:54:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:54:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:54:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:54:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:54:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:54:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171239m	[env.py: 870]
+05/13 20:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:54:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14129114 -1.08652635 -0.17123947] yaw=-45.7deg	[env.py: 1019]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:54:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=422.0ms, total=422.1ms	[env.py: 1075]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.087, -0.171)	[env.py: 1079]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg	[env.py: 1082]
+05/13 20:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 20:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:54:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:54:30 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:54:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:54:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:54:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:54:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:54:33 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.862s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:54:33 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:54:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:54:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:54:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140817m	[env.py: 870]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.82072688 -0.84891961 -0.1408175 ] yaw=-59.4deg	[env.py: 1019]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50671989 -1.04374701 -0.1408175 ] yaw=-56.3deg	[env.py: 1019]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39187388 -1.07053632 -0.1408175 ] yaw=-25.4deg	[env.py: 1019]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=267.1ms, total=267.1ms	[env.py: 1075]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.821, -0.849, -0.141)	[env.py: 1079]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg	[env.py: 1082]
+05/13 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:54:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:54:36 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:54:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:54:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:54:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:54:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:54:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:54:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.688[m] 81.846[deg]	[grasp_sample.py: 539]
+05/13 20:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:54:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:54:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:54:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:54:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:54:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:55:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:55:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:55:09 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 20:55:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:55:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:55:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:12 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:12 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.450[m] 54.283[deg]	[grasp_sample.py: 539]
+05/13 20:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:55:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:55:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:55:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:55:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:55:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:55:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.56s (batch: 4.65s, save: 9.91s)	[pipeline.py: 300]
+05/13 20:55:24 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.07s:
+  episode_total: mean=97.03s, total=194.07s, count=2, min=7616.1ms, max=186449.0ms
+  sensor_polling: mean=444.2ms, total=123.94s, count=279, min=386.4ms, max=844.7ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9910.7ms, max=9910.7ms
+  physics_step: mean=25.6ms, total=7.14s, count=279, min=17.3ms, max=64.4ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.2ms, max=4648.2ms
+  task_sampling: mean=534.3ms, total=1.07s, count=2, min=523.0ms, max=545.5ms
+  task_specific_sample: mean=529.6ms, total=1.06s, count=2, min=519.0ms, max=540.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.2ms, max=2.6ms
+  mj_forward_sync: mean=436.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:55:25 INFO: [Worker 0] Feasibility-checked 133 grasps in 93.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:25 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.040[m] 71.564[deg]	[grasp_sample.py: 539]
+05/13 20:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:55:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:55:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136188m	[env.py: 870]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79155445 -0.76891412 -0.1361878 ] yaw=-74.0deg	[env.py: 1019]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36272828 -1.14467679 -0.1361878 ] yaw=-44.3deg	[env.py: 1019]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=428.6ms, total=428.6ms	[env.py: 1075]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.792, -0.769, -0.136)	[env.py: 1079]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg	[env.py: 1082]
+05/13 20:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:55:27 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:55:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:55:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:55:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 153 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:38 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.738[m] 102.596[deg]	[grasp_sample.py: 539]
+05/13 20:55:40 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:55:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:55:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:55:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:55:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:55:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:55:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136929m	[env.py: 870]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:55:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26048212 -1.28180398 -0.13692871] yaw=-57.5deg	[env.py: 1019]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65798907 -0.72311726 -0.13692871] yaw=-66.2deg	[env.py: 1019]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62215005 -0.93359148 -0.13692871] yaw=-96.3deg	[env.py: 1019]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:55:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=212.0ms, total=212.0ms	[env.py: 1075]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.282, -0.137)	[env.py: 1079]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/13 20:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:55:42 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:43 INFO: [Worker 0] Feasibility-checked 232 grasps in 26.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:43 INFO: [Worker 0] Feasible grasp found 209 (originally 209): w/ 0.505[m] 67.930[deg]	[grasp_sample.py: 539]
+05/13 20:55:44 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:55:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:55:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121559m	[env.py: 870]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01480121 -1.38135871 -0.12155896] yaw=-21.8deg	[env.py: 1019]
+05/13 20:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49849741 -0.99206006 -0.12155896] yaw=-68.3deg	[env.py: 1019]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.79589858 -0.90287396 -0.12155896] yaw=-107.8deg	[env.py: 1019]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:55:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.6ms, total=388.6ms	[env.py: 1075]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.015, -1.381, -0.122)	[env.py: 1079]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.8 deg	[env.py: 1082]
+05/13 20:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 20:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:55:47 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:50 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.598[m] 84.265[deg]	[grasp_sample.py: 539]
+05/13 20:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:55:50 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.681s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:55:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:55:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:55:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:55:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:55:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:55:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146374m	[env.py: 870]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58235348 -1.00062071 -0.14637378] yaw=-86.9deg	[env.py: 1019]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:55:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=418.7ms, total=418.8ms	[env.py: 1075]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -1.001, -0.146)	[env.py: 1079]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.9 deg	[env.py: 1082]
+05/13 20:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:55:53 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:55:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:55:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:55:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:55:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.633[m] 88.788[deg]	[grasp_sample.py: 539]
+05/13 20:55:56 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:55:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:55:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:55:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:55:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:55:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:55:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171246m	[env.py: 870]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:55:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43773141 -1.05925866 -0.1712457 ] yaw=-46.9deg	[env.py: 1019]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22869643 -1.18488232 -0.1712457 ] yaw=-23.7deg	[env.py: 1019]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:55:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.4ms, total=248.5ms	[env.py: 1075]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.059, -0.171)	[env.py: 1079]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg	[env.py: 1082]
+05/13 20:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:55:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:55:58 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:55:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:55:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:55:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:56:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:56:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.591[m] 87.194[deg]	[grasp_sample.py: 539]
+05/13 20:56:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:56:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:56:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:56:01 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:56:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:56:27 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:56:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:56:27 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 20:56:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:56:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:56:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.10s (batch: 4.67s, save: 10.43s)	[pipeline.py: 300]
+05/13 20:56:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:56:43 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=2.70s:
+  episode_total: mean=64.64s, total=323.21s, count=5, min=375.9ms, max=172414.3ms
+  sensor_polling: mean=430.5ms, total=186.83s, count=434, min=385.1ms, max=841.5ms
+  physics_step: mean=24.3ms, total=10.55s, count=434, min=17.0ms, max=83.4ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10429.2ms, max=10429.2ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.7ms, max=4672.7ms
+  task_specific_sample: mean=611.2ms, total=3.06s, count=5, min=370.3ms, max=934.0ms
+  task_sampling: mean=675.6ms, total=2.70s, count=4, min=451.1ms, max=940.6ms
+  task_sampling_failed: mean=375.8ms, total=375.8ms, count=1, min=375.8ms, max=375.8ms
+  scene_randomize: mean=2.0ms, total=10.2ms, count=5, min=1.1ms, max=4.8ms
+  mj_forward_sync: mean=495.8us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:56:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:56:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:56:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:56:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:56:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:56:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145195m	[env.py: 870]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:56:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30612245 -0.97415064 -0.1451951 ] yaw=-54.4deg	[env.py: 1019]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:56:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.5ms, total=235.5ms	[env.py: 1075]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -0.974, -0.145)	[env.py: 1079]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 20:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:56:45 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:56:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:56:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:56:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:56:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:56:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:56:48 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.722[m] 83.700[deg]	[grasp_sample.py: 539]
+05/13 20:56:49 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:56:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:56:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:56:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:56:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:56:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:56:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107498m	[env.py: 870]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:56:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47591047 -0.74379615 -0.10749839] yaw=-86.2deg	[env.py: 1019]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.4ms, total=249.4ms	[env.py: 1075]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.744, -0.107)	[env.py: 1079]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.2 deg	[env.py: 1082]
+05/13 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:56:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:56:51 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:56:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:56:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:56:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:56:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:56:54 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.733s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:56:54 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:56:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:56:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:56:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:56:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:56:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:56:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:56:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188703m	[env.py: 870]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:56:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=314.4ms, total=314.5ms	[env.py: 1105]
+05/13 20:56:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:56:56 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:56:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:56:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:56:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:56:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:56:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:56:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:56:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165259m	[env.py: 870]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:56:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:56:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=276.5ms, total=276.6ms	[env.py: 1105]
+05/13 20:56:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:56:58 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:57:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:57:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:57:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:57:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:57:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:57:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:57:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136284m	[env.py: 870]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:57:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39920317 -1.07629577 -0.13628429] yaw=-22.7deg	[env.py: 1019]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=227.0ms	[env.py: 1075]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.076, -0.136)	[env.py: 1079]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.7 deg	[env.py: 1082]
+05/13 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:57:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:57:00 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:57:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:57:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:57:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:57:07 INFO: [Worker 0] Feasibility-checked 234 grasps in 6.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:57:07 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.693[m] 95.637[deg]	[grasp_sample.py: 539]
+05/13 20:57:08 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:57:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:57:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:57:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:57:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:57:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:57:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:57:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:57:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128320m	[env.py: 870]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:57:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85945104 -0.83382341 -0.12832019] yaw=-108.7deg	[env.py: 1019]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.80476162 -0.75835291 -0.12832019] yaw=-104.7deg	[env.py: 1019]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65394985 -0.94709219 -0.12832019] yaw=-80.1deg	[env.py: 1019]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:57:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.1ms	[env.py: 1075]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.859, -0.834, -0.128)	[env.py: 1079]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.7 deg	[env.py: 1082]
+05/13 20:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:57:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:57:10 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:57:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:57:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:57:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:57:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:57:11 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.989s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:57:11 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.716[m] 94.960[deg]	[grasp_sample.py: 539]
+05/13 20:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:57:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:57:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:14 INFO: [Worker 0] Feasibility-checked 153 grasps in 106.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:57:14 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.036[m] 58.357[deg]	[grasp_sample.py: 539]
+05/13 20:57:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:57:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:57:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:57:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:57:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:57:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 176 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:57:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:57:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:57:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:57:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:57:43 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:57:43 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.578[m] 71.532[deg]	[grasp_sample.py: 539]
+05/13 20:57:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:57:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:57:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:46 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:57:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:57:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:57:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:57:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:57:57 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:57:57 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.578[m] 71.535[deg]	[grasp_sample.py: 539]
+05/13 20:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:57:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:57:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:02 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:11 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:58:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:58:11 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 20:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:58:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:12 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.275s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:58:12 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.578[m] 71.535[deg]	[grasp_sample.py: 539]
+05/13 20:58:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:58:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:58:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:58:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:58:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.73s (batch: 4.15s, save: 9.58s)	[pipeline.py: 300]
+05/13 20:58:25 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.26s:
+  episode_total: mean=89.06s, total=178.11s, count=2, min=13673.8ms, max=164439.0ms
+  sensor_polling: mean=424.5ms, total=107.40s, count=253, min=384.2ms, max=867.3ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9582.0ms, max=9582.0ms
+  physics_step: mean=24.8ms, total=6.27s, count=253, min=17.1ms, max=43.9ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4146.8ms, max=4146.8ms
+  task_sampling: mean=627.8ms, total=1.26s, count=2, min=502.8ms, max=752.8ms
+  task_specific_sample: mean=623.6ms, total=1.25s, count=2, min=498.7ms, max=748.6ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.7ms, max=2.8ms
+  mj_forward_sync: mean=439.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=37.3us, total=0.1ms, 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]
+05/13 20:58:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 20:58:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:58:26 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 20:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:58:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:58:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:58:26 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:58:26 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=2.09s:
+  episode_total: mean=15.63s, total=93.79s, count=6, min=285.7ms, max=76448.4ms
+  sensor_polling: mean=417.8ms, total=30.08s, count=72, min=398.8ms, max=778.9ms
+  task_specific_sample: mean=446.1ms, total=2.68s, count=6, min=282.4ms, max=546.9ms
+  task_sampling: mean=522.0ms, total=2.09s, count=4, min=487.7ms, max=551.1ms
+  physics_step: mean=19.5ms, total=1.41s, count=72, min=14.4ms, max=27.3ms
+  task_sampling_failed: mean=307.3ms, total=614.6ms, count=2, min=285.7ms, max=328.9ms
+  scene_randomize: mean=1.5ms, total=9.0ms, count=6, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=432.5us, total=2.6ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106629m	[env.py: 870]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10619183 -1.11708109 -0.10662895] yaw=-12.7deg	[env.py: 1019]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39164293 -1.06638443 -0.10662895] yaw=-29.1deg	[env.py: 1019]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53781006 -0.92732774 -0.10662895] yaw=-80.9deg	[env.py: 1019]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.4ms, total=228.5ms	[env.py: 1075]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -1.117, -0.107)	[env.py: 1079]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.7 deg	[env.py: 1082]
+05/13 20:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:27 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135780m	[env.py: 870]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28360312 -1.02467035 -0.13578003] yaw=-21.5deg	[env.py: 1019]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66548668 -0.68458536 -0.13578003] yaw=-81.7deg	[env.py: 1019]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.4ms	[env.py: 1075]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.025, -0.136)	[env.py: 1079]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.5 deg	[env.py: 1082]
+05/13 20:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:28 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:31 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.858s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:58:31 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:58:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165385m	[env.py: 870]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21542039 -1.08178278 -0.16538513] yaw=-31.1deg	[env.py: 1019]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07269587 -1.29665564 -0.16538513] yaw=1.8deg	[env.py: 1019]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.0ms	[env.py: 1075]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.082, -0.165)	[env.py: 1079]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.1 deg	[env.py: 1082]
+05/13 20:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:32 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:38 INFO: [Worker 0] Feasibility-checked 236 grasps in 5.242s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:58:38 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.720[m] 82.586[deg]	[grasp_sample.py: 539]
+05/13 20:58:39 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:58:40 INFO: [Worker 0] Feasibility-checked 234 grasps in 11.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:58:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.747[m] 86.876[deg]	[grasp_sample.py: 539]
+05/13 20:58:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:58:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 20:58:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.72s (batch: 5.06s, save: 9.66s)	[pipeline.py: 300]
+05/13 20:58:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:41 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: 256]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108740m	[env.py: 870]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38965863 -0.82914362 -0.10874027] yaw=-66.9deg	[env.py: 1019]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39261448 -0.865244   -0.10874027] yaw=-69.5deg	[env.py: 1019]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.6ms, total=229.7ms	[env.py: 1075]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.829, -0.109)	[env.py: 1079]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg	[env.py: 1082]
+05/13 20:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:41 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:58:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:42 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=3.58s:
+  episode_total: mean=48.89s, total=244.45s, count=5, min=3532.3ms, max=163766.8ms
+  sensor_polling: mean=418.5ms, total=138.53s, count=331, min=375.0ms, max=786.2ms
+  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9658.8ms, max=9658.8ms
+  physics_step: mean=23.5ms, total=7.78s, count=331, min=16.5ms, max=33.4ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5063.7ms, max=5063.7ms
+  task_sampling: mean=716.3ms, total=3.58s, count=5, min=570.9ms, max=874.3ms
+  task_specific_sample: mean=712.0ms, total=3.56s, count=5, min=567.7ms, max=867.5ms
+  scene_randomize: mean=2.1ms, total=10.4ms, count=5, min=1.2ms, max=4.8ms
+  mj_forward_sync: mean=468.2us, total=2.3ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.0us, 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]
+05/13 20:58:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:58:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115911m	[env.py: 870]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71277412 -0.79801993 -0.11591129] yaw=-83.8deg	[env.py: 1019]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45531001 -0.87728194 -0.11591129] yaw=-50.1deg	[env.py: 1019]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.7855355  -0.93835164 -0.11591129] yaw=-98.3deg	[env.py: 1019]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.6ms, total=248.6ms	[env.py: 1075]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.713, -0.798, -0.116)	[env.py: 1079]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.8 deg	[env.py: 1082]
+05/13 20:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 20:58:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.675s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:58:44 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:58:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:44 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:45 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: 256]
+05/13 20:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157758m	[env.py: 870]
+05/13 20:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55861702 -0.87699917 -0.15775778] yaw=-38.7deg	[env.py: 1019]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.8ms, total=275.9ms	[env.py: 1075]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.877, -0.158)	[env.py: 1079]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg	[env.py: 1082]
+05/13 20:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/13 20:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:46 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:58:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.762[m] 98.552[deg]	[grasp_sample.py: 539]
+05/13 20:58:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:58:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:58:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:58:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:58:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.992s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:58:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.732[m] 87.514[deg]	[grasp_sample.py: 539]
+05/13 20:58:51 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:58:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:58:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:58:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:58:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:58:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:58:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124479m	[env.py: 870]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:58:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75371881 -0.74492298 -0.12447945] yaw=-66.4deg	[env.py: 1019]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29129255 -1.15860305 -0.12447945] yaw=-31.7deg	[env.py: 1019]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:58:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=294.1ms, total=294.1ms	[env.py: 1075]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.745, -0.124)	[env.py: 1079]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg	[env.py: 1082]
+05/13 20:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 20:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:58:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:58:53 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:58:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:58:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:58:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 10.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:03 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.753[m] 89.561[deg]	[grasp_sample.py: 539]
+05/13 20:59:04 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:59:04 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 20:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130499m	[env.py: 870]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07451075 -1.28739554 -0.13049933] yaw=-42.7deg	[env.py: 1019]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms	[env.py: 1075]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.287, -0.130)	[env.py: 1079]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg	[env.py: 1082]
+05/13 20:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:07 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.703s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:59:10 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:59:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177227m	[env.py: 870]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20512063 -1.02316838 -0.17722749] yaw=-49.7deg	[env.py: 1019]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67361607 -0.95823    -0.17722749] yaw=-62.0deg	[env.py: 1019]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77527337 -0.87919839 -0.17722749] yaw=-52.1deg	[env.py: 1019]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.2ms	[env.py: 1075]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.023, -0.177)	[env.py: 1079]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/13 20:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:11 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:17 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:59:18 INFO: [Worker 0] Feasibility-checked 176 grasps in 121.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:18 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.035[m] 45.658[deg]	[grasp_sample.py: 539]
+05/13 20:59:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:18 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: 256]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121410m	[env.py: 870]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85785924 -0.82413423 -0.12141032] yaw=-77.3deg	[env.py: 1019]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04535882 -1.28209921 -0.12141032] yaw=-30.7deg	[env.py: 1019]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48512245 -0.93378385 -0.12141032] yaw=-49.3deg	[env.py: 1019]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.1ms, total=317.1ms	[env.py: 1075]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.858, -0.824, -0.121)	[env.py: 1079]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.3 deg	[env.py: 1082]
+05/13 20:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 20:59:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:59:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:59:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:19 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:59:20 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:59:20 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=0.56s:
+  episode_total: mean=407.91s, total=407.91s, count=1, min=407910.0ms, max=407910.0ms
+  sensor_polling: mean=432.2ms, total=66.56s, count=154, min=373.8ms, max=814.6ms
+  physics_step: mean=24.0ms, total=3.69s, count=154, min=16.7ms, max=33.4ms
+  task_sampling: mean=564.5ms, total=564.5ms, count=1, min=564.5ms, max=564.5ms
+  task_specific_sample: mean=559.6ms, total=559.6ms, count=1, min=559.6ms, max=559.6ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=580.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, 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]
+05/13 20:59:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.458s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.685[m] 83.616[deg]	[grasp_sample.py: 539]
+05/13 20:59:22 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191457m	[env.py: 870]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104234m	[env.py: 870]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18640746 -0.98552736 -0.1914569 ] yaw=-52.5deg	[env.py: 1019]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45912495 -0.75623544 -0.1042343 ] yaw=-40.9deg	[env.py: 1019]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=549.3ms, total=549.3ms	[env.py: 1075]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -0.986, -0.191)	[env.py: 1079]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14754618 -1.05040426 -0.1042343 ] yaw=-68.7deg	[env.py: 1019]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=645.1ms, total=645.2ms	[env.py: 1075]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.756, -0.104)	[env.py: 1079]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.9 deg	[env.py: 1082]
+05/13 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:24 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:24 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:27 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.906s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:59:27 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:59:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.906s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:59:27 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:59:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115766m	[env.py: 870]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46222608 -0.76731801 -0.11576581] yaw=-48.6deg	[env.py: 1019]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2539713  -1.0761008  -0.11576581] yaw=-50.9deg	[env.py: 1019]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.2ms, total=286.3ms	[env.py: 1075]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.767, -0.116)	[env.py: 1079]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg	[env.py: 1082]
+05/13 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:29 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:30 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: 256]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161155m	[env.py: 870]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32015836 -1.16098367 -0.16115548] yaw=-20.6deg	[env.py: 1019]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07512524 -1.37181794 -0.16115548] yaw=-30.4deg	[env.py: 1019]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90083148 -0.76925266 -0.16115548] yaw=-108.8deg	[env.py: 1019]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.6ms, total=182.7ms	[env.py: 1075]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.161, -0.161)	[env.py: 1079]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.6 deg	[env.py: 1082]
+05/13 20:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:31 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.745s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:59:32 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:59:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185865m	[env.py: 870]
+05/13 20:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63085594 -0.71046732 -0.18586523] yaw=-47.4deg	[env.py: 1019]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6078134  -0.94774635 -0.18586523] yaw=-57.0deg	[env.py: 1019]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73228698 -0.7511395  -0.18586523] yaw=-66.3deg	[env.py: 1019]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=267.2ms, total=267.3ms	[env.py: 1075]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.631, -0.710, -0.186)	[env.py: 1079]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg	[env.py: 1082]
+05/13 20:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 20:59:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:34 INFO: [Worker 0] Feasibility-checked 235 grasps in 3.150s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:34 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.653[m] 77.874[deg]	[grasp_sample.py: 539]
+05/13 20:59:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:34 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:35 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:59:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.751s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:59:37 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:59:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132231m	[env.py: 870]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56977731 -0.86530013 -0.13223094] yaw=-73.5deg	[env.py: 1019]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14287053 -1.00382567 -0.13223094] yaw=-54.2deg	[env.py: 1019]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms	[env.py: 1075]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -0.865, -0.132)	[env.py: 1079]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg	[env.py: 1082]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:38 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139894m	[env.py: 870]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.3ms, total=216.3ms	[env.py: 1105]
+05/13 20:59:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:59:39 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:59:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106242m	[env.py: 870]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=256.2ms, total=256.2ms	[env.py: 1105]
+05/13 20:59:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:59:40 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:42 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: 256]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120921m	[env.py: 870]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32482011 -0.94596234 -0.12092066] yaw=-28.8deg	[env.py: 1019]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms	[env.py: 1075]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -0.946, -0.121)	[env.py: 1079]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg	[env.py: 1082]
+05/13 20:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:42 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:46 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.697[m] 88.670[deg]	[grasp_sample.py: 539]
+05/13 20:59:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:59:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:59:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:59:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:59:50 INFO: [Worker 0] Feasibility-checked 239 grasps in 7.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:59:50 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.779[m] 77.262[deg]	[grasp_sample.py: 539]
+05/13 20:59:51 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:59:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117134m	[env.py: 870]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=581.4ms, total=581.4ms	[env.py: 1105]
+05/13 20:59:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:59:54 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:59:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:59:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:59:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:59:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:59:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:59:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182170m	[env.py: 870]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:59:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.85526581 -0.73298294 -0.18217027] yaw=-56.7deg	[env.py: 1019]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01525727 -1.34209921 -0.18217027] yaw=-34.6deg	[env.py: 1019]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:59:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=462.7ms, total=462.7ms	[env.py: 1075]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.855, -0.733, -0.182)	[env.py: 1079]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 20:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:59:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:59:56 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:59:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:59:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:59:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:59:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:59:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:00:01 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.731[m] 78.648[deg]	[grasp_sample.py: 539]
+05/13 21:00:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:00:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:00:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:00:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:11 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:00:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:00:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.205s, found 94 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:14 INFO: [Worker 0] Feasibility-checked 94 grasps in 2.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:00:14 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 0.552[deg]	[grasp_sample.py: 539]
+05/13 21:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:00:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:00:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:00:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:00:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:00:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:00:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 132 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:00:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:20 INFO: [Worker 0] Feasibility-checked 132 grasps in 2.908s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:00:20 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 2.264[deg]	[grasp_sample.py: 539]
+05/13 21:00:21 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:00:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:00:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:00:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:00:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:00:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:00:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:00:23 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: 256]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168456m	[env.py: 870]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:00:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.89201681 -0.91423615 -0.16845624] yaw=-71.8deg	[env.py: 1019]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:00:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=262.4ms, total=262.4ms	[env.py: 1075]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.892, -0.914, -0.168)	[env.py: 1079]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg	[env.py: 1082]
+05/13 21:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:00:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:00:23 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:00:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:00:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:00:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:00:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:00:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.307s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:00:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.581[m] 89.958[deg]	[grasp_sample.py: 539]
+05/13 21:00:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:00:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:00:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:00:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:00:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:00:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:00:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:00:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:00:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:00:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.446[m] 64.057[deg]	[grasp_sample.py: 539]
+05/13 21:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:00:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:00:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:00:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:00:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:02 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.151[m] 12.337[deg]	[grasp_sample.py: 539]
+05/13 21:01:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:04 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:01:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.446[m] 64.059[deg]	[grasp_sample.py: 539]
+05/13 21:01:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:01:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:01:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:01:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:20 INFO: [Worker 0] Feasibility-checked 229 grasps in 2.901s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:20 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.133[m] 13.697[deg]	[grasp_sample.py: 539]
+05/13 21:01:22 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:01:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.264s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.446[m] 64.059[deg]	[grasp_sample.py: 539]
+05/13 21:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:24 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: 256]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157903m	[env.py: 870]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35162846 -0.89056244 -0.15790312] yaw=-57.6deg	[env.py: 1019]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29151877 -1.06403633 -0.15790312] yaw=-37.0deg	[env.py: 1019]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.2ms	[env.py: 1075]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -0.891, -0.158)	[env.py: 1079]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg	[env.py: 1082]
+05/13 21:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:24 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:30 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.738[m] 85.393[deg]	[grasp_sample.py: 539]
+05/13 21:01:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:31 INFO: [Worker 0] Feasibility-checked 242 grasps in 15.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:31 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.151[m] 17.329[deg]	[grasp_sample.py: 539]
+05/13 21:01:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:01:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:01:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:01:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 21:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165151m	[env.py: 870]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44666374 -0.92874999 -0.16515051] yaw=-56.7deg	[env.py: 1019]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.2ms, total=236.2ms	[env.py: 1075]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -0.929, -0.165)	[env.py: 1079]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 21:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:35 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:01:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:01:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 21:01:37 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 21:01:37 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=1.17s:
+  episode_total: mean=85.78s, total=171.56s, count=2, min=74154.8ms, max=97405.4ms
+  sensor_polling: mean=430.7ms, total=98.64s, count=229, min=369.6ms, max=822.4ms
+  physics_step: mean=23.9ms, total=5.47s, count=229, min=14.4ms, max=89.9ms
+  task_sampling: mean=587.4ms, total=1.17s, count=2, min=576.4ms, max=598.5ms
+  task_specific_sample: mean=583.3ms, total=1.17s, count=2, min=572.4ms, max=594.1ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=519.0us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.3us, 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]
+05/13 21:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:39 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: 256]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180457m	[env.py: 870]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.3ms, total=235.4ms	[env.py: 1105]
+05/13 21:01:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:01:39 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:01:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.264s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.659[m] 78.648[deg]	[grasp_sample.py: 539]
+05/13 21:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178137m	[env.py: 870]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:41 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42429522 -1.10994286 -0.17813736] yaw=-22.3deg	[env.py: 1019]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31957603 -1.21485514 -0.17813736] yaw=-23.2deg	[env.py: 1019]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.5ms	[env.py: 1075]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.424, -1.110, -0.178)	[env.py: 1079]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.3 deg	[env.py: 1082]
+05/13 21:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:41 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:43 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 89.838[deg]	[grasp_sample.py: 539]
+05/13 21:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170173m	[env.py: 870]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22157225 -1.30287362 -0.17017265] yaw=-20.2deg	[env.py: 1019]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63214466 -0.90501578 -0.17017265] yaw=-41.9deg	[env.py: 1019]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.88119563 -0.91439281 -0.17017265] yaw=-83.7deg	[env.py: 1019]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.4ms, total=203.4ms	[env.py: 1075]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.303, -0.170)	[env.py: 1079]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.2 deg	[env.py: 1082]
+05/13 21:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 21:01:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:44 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:01:45 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:45 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.601[m] 92.441[deg]	[grasp_sample.py: 539]
+05/13 21:01:46 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:01:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106132m	[env.py: 870]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26545617 -1.17852673 -0.10613205] yaw=-25.2deg	[env.py: 1019]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.91659181 -0.88256971 -0.10613205] yaw=-110.5deg	[env.py: 1019]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.4ms, total=228.5ms	[env.py: 1075]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.179, -0.106)	[env.py: 1079]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.2 deg	[env.py: 1082]
+05/13 21:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:49 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:01:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:01:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.37s (batch: 4.82s, save: 11.55s)	[pipeline.py: 300]
+05/13 21:01:50 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.51s:
+  episode_total: mean=202.19s, total=202.19s, count=1, min=202193.5ms, max=202193.5ms
+  sensor_polling: mean=433.7ms, total=130.10s, count=300, min=386.7ms, max=803.5ms
+  save_trajectories: mean=11.55s, total=11.55s, count=1, min=11548.2ms, max=11548.2ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=17.5ms, max=90.7ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4824.9ms, max=4824.9ms
+  task_sampling: mean=512.6ms, total=512.6ms, count=1, min=512.6ms, max=512.6ms
+  task_specific_sample: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:01:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108107m	[env.py: 870]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.72267869 -0.89739572 -0.10810726] yaw=-67.2deg	[env.py: 1019]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14193422 -1.02315596 -0.10810726] yaw=-65.4deg	[env.py: 1019]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34287285 -1.01453617 -0.10810726] yaw=-44.6deg	[env.py: 1019]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.723, -0.897, -0.108)	[env.py: 1079]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg	[env.py: 1082]
+05/13 21:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:52 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:52 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:52 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.676[m] 88.650[deg]	[grasp_sample.py: 539]
+05/13 21:01:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:01:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:01:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:01:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:01:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:01:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.288s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:01:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.699[m] 89.239[deg]	[grasp_sample.py: 539]
+05/13 21:01:55 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:01:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:01:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:01:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:01:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:01:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:01:57 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: 256]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149290m	[env.py: 870]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:01:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44195391 -0.96099151 -0.14928959] yaw=-77.7deg	[env.py: 1019]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44134701 -0.83026443 -0.14928959] yaw=-34.5deg	[env.py: 1019]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58150869 -0.86345422 -0.14928959] yaw=-50.6deg	[env.py: 1019]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:01:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.2ms, total=103.3ms	[env.py: 1075]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.961, -0.149)	[env.py: 1079]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg	[env.py: 1082]
+05/13 21:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:01:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:01:57 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:01:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:01:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:01:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:02:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:02:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.725[m] 84.719[deg]	[grasp_sample.py: 539]
+05/13 21:02:01 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:02:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:02:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:02:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:02:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:02:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:02:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:02:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189359m	[env.py: 870]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:02:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22644838 -0.98359366 -0.18935905] yaw=-22.0deg	[env.py: 1019]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:02:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=291.2ms, total=291.2ms	[env.py: 1075]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -0.984, -0.189)	[env.py: 1079]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.0 deg	[env.py: 1082]
+05/13 21:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:02:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:02:04 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:02:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:02:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:02:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:02:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:02:07 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.659s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:02:07 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:02:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:02:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:02:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:02:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:02:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:02:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:02:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:02:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:02:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154567m	[env.py: 870]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:02:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57003831 -0.96622608 -0.15456744] yaw=-38.3deg	[env.py: 1019]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:02:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=538.3ms, total=538.4ms	[env.py: 1075]
+05/13 21:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -0.966, -0.155)	[env.py: 1079]
+05/13 21:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg	[env.py: 1082]
+05/13 21:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 21:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:02:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:02:10 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:02:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:02:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:02:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:02:16 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.262s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:02:16 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.659[m] 86.610[deg]	[grasp_sample.py: 539]
+05/13 21:02:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:02:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:02:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:02:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:02:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:02:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:02:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:02:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:02:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:02:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:03:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:03:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:03:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:03:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:03:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:03:37 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:03:47 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:03:55 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:04:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:04:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:04:04 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 21:04:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:04:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:04:13 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 21:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:04:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:04:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.34s (batch: 5.87s, save: 10.47s)	[pipeline.py: 300]
+05/13 21:04:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:04:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:04:21 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 21:04:22 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=2.72s:
+  episode_total: mean=72.84s, total=291.36s, count=4, min=4226.8ms, max=178084.5ms
+  sensor_polling: mean=420.0ms, total=187.32s, count=446, min=369.9ms, max=941.6ms
+  physics_step: mean=23.6ms, total=10.53s, count=446, min=16.5ms, max=53.6ms
+  save_trajectories: mean=10.47s, total=10.47s, count=1, min=10469.0ms, max=10469.0ms
+  save_batch_prep: mean=5.87s, total=5.87s, count=1, min=5871.0ms, max=5871.0ms
+  task_sampling: mean=679.6ms, total=2.72s, count=4, min=490.4ms, max=1091.7ms
+  task_specific_sample: mean=673.5ms, total=2.69s, count=4, min=484.7ms, max=1083.6ms
+  scene_randomize: mean=3.0ms, total=11.9ms, count=4, min=1.1ms, max=5.3ms
+  mj_forward_sync: mean=466.1us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:04:23 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:04:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:04:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:04:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:04:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:04:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:04:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113032m	[env.py: 870]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:04:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02150571 -1.33818356 -0.11303238] yaw=-25.6deg	[env.py: 1019]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50814978 -0.88430739 -0.11303238] yaw=-84.6deg	[env.py: 1019]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:04:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.0ms, total=248.1ms	[env.py: 1075]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.022, -1.338, -0.113)	[env.py: 1079]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.6 deg	[env.py: 1082]
+05/13 21:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:04:24 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:04:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:04:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:04:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:04:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:04:27 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.634s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:04:27 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:04:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:04:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:04:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.10s (batch: 4.91s, save: 10.19s)	[pipeline.py: 300]
+05/13 21:04:29 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.52s:
+  episode_total: mean=84.15s, total=168.30s, count=2, min=246.0ms, max=168053.4ms
+  sensor_polling: mean=419.1ms, total=113.58s, count=271, min=368.1ms, max=786.1ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10186.4ms, max=10186.4ms
+  physics_step: mean=25.6ms, total=6.93s, count=271, min=21.5ms, max=54.7ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4912.6ms, max=4912.6ms
+  task_specific_sample: mean=379.5ms, total=759.0ms, count=2, min=240.9ms, max=518.0ms
+  task_sampling: mean=521.1ms, total=521.1ms, count=1, min=521.1ms, max=521.1ms
+  task_sampling_failed: mean=246.0ms, total=246.0ms, count=1, min=246.0ms, max=246.0ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=432.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:04:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:04:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:04:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:04:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:04:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:04:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187456m	[env.py: 870]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:04:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31084608 -1.20128252 -0.18745642] yaw=-43.1deg	[env.py: 1019]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58385567 -0.89993292 -0.18745642] yaw=-69.5deg	[env.py: 1019]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:04:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.5ms	[env.py: 1075]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.201, -0.187)	[env.py: 1079]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg	[env.py: 1082]
+05/13 21:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:04:30 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:04:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:04:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:04:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:04:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:04:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:04:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:04:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:04:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:04:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:04:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150755m	[env.py: 870]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:04:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61853048 -0.8920224  -0.15075546] yaw=-95.6deg	[env.py: 1019]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40754643 -1.13999961 -0.15075546] yaw=-34.8deg	[env.py: 1019]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.85786778 -0.84071123 -0.15075546] yaw=-74.5deg	[env.py: 1019]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:04:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.0ms, total=320.1ms	[env.py: 1075]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.892, -0.151)	[env.py: 1079]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.6 deg	[env.py: 1082]
+05/13 21:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:04:31 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:04:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:04:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:04:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:04:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:04:32 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.876s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:04:32 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.726[m] 105.337[deg]	[grasp_sample.py: 539]
+05/13 21:04:32 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:04:32 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.572[m] 80.204[deg]	[grasp_sample.py: 539]
+05/13 21:04:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:04:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:04:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:04:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:04:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:04:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:04:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.85s (batch: 5.44s, save: 10.41s)	[pipeline.py: 300]
+05/13 21:04:38 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=9.26s:
+  episode_total: mean=18.03s, total=342.57s, count=19, min=227.3ms, max=169649.1ms
+  sensor_polling: mean=427.6ms, total=171.45s, count=401, min=381.0ms, max=848.1ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10412.3ms, max=10412.3ms
+  task_specific_sample: mean=541.5ms, total=10.29s, count=19, min=222.1ms, max=829.3ms
+  physics_step: mean=23.4ms, total=9.37s, count=401, min=19.0ms, max=50.1ms
+  task_sampling: mean=578.6ms, total=9.26s, count=16, min=378.2ms, max=832.9ms
+  save_batch_prep: mean=5.44s, total=5.44s, count=1, min=5436.4ms, max=5436.4ms
+  task_sampling_failed: mean=367.5ms, total=1.10s, count=3, min=227.2ms, max=610.3ms
+  scene_randomize: mean=1.7ms, total=32.0ms, count=19, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=447.8us, total=8.5ms, count=19, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:04:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:04:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:04:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135057m	[env.py: 870]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66916966 -0.77715109 -0.13505747] yaw=-90.8deg	[env.py: 1019]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08147567 -1.26417202 -0.13505747] yaw=-49.0deg	[env.py: 1019]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.8ms	[env.py: 1075]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.669, -0.777, -0.135)	[env.py: 1079]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.8 deg	[env.py: 1082]
+05/13 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:04:40 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:04:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:04:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:04:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:04:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:04:46 INFO: [Worker 0] Feasibility-checked 243 grasps in 5.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:04:46 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.757[m] 104.785[deg]	[grasp_sample.py: 539]
+05/13 21:04:48 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:04:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:04:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:04:48 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 21:04:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:04:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:04:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:04:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:04:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:04:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181066m	[env.py: 870]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:04:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66792653 -0.83911154 -0.18106572] yaw=-50.3deg	[env.py: 1019]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35948576 -0.84921012 -0.18106572] yaw=-73.5deg	[env.py: 1019]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36592107 -0.94744626 -0.18106572] yaw=-58.4deg	[env.py: 1019]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.5ms, total=244.6ms	[env.py: 1075]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.668, -0.839, -0.181)	[env.py: 1079]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg	[env.py: 1082]
+05/13 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:04:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:04:50 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:04:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:04:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:04:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:04:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.720[m] 83.964[deg]	[grasp_sample.py: 539]
+05/13 21:04:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:04:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:05:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:05:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:05:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:05:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:05:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.36s (batch: 4.50s, save: 9.85s)	[pipeline.py: 300]
+05/13 21:05:04 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=2.36s:
+  episode_total: mean=46.53s, total=186.10s, count=4, min=3217.1ms, max=174548.4ms
+  sensor_polling: mean=420.8ms, total=113.61s, count=270, min=390.0ms, max=859.7ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9851.1ms, max=9851.1ms
+  physics_step: mean=23.5ms, total=6.34s, count=270, min=17.1ms, max=34.9ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.3ms, max=4504.3ms
+  task_sampling: mean=589.8ms, total=2.36s, count=4, min=334.4ms, max=847.9ms
+  task_specific_sample: mean=586.0ms, total=2.34s, count=4, min=331.0ms, max=844.7ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=442.6us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=26.5us, total=0.1ms, count=4, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:05:04 INFO: [Worker 0] Feasibility-checked 248 grasps in 4.111s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:04 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.615[m] 83.380[deg]	[grasp_sample.py: 539]
+05/13 21:05:05 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:05:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104485m	[env.py: 870]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11302599 -1.23152417 -0.10448455] yaw=-58.4deg	[env.py: 1019]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14960773 -0.98211306 -0.10448455] yaw=-28.7deg	[env.py: 1019]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6670823  -0.75979816 -0.10448455] yaw=-88.1deg	[env.py: 1019]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=181.9ms	[env.py: 1075]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.232, -0.104)	[env.py: 1079]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 21:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:06 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:07 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: 256]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126526m	[env.py: 870]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42060514 -1.01575625 -0.12652641] yaw=-60.9deg	[env.py: 1019]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=396.1ms, total=396.2ms	[env.py: 1075]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -1.016, -0.127)	[env.py: 1079]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/13 21:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:08 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.704s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:05:09 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:05:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176625m	[env.py: 870]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10215547 -1.38821751 -0.17662544] yaw=-3.6deg	[env.py: 1019]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms	[env.py: 1075]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.388, -0.177)	[env.py: 1079]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.6 deg	[env.py: 1082]
+05/13 21:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:11 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.354s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:17 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.673[m] 92.645[deg]	[grasp_sample.py: 539]
+05/13 21:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:05:19 INFO: [Worker 0] Feasibility-checked 229 grasps in 7.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:19 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.639[m] 81.636[deg]	[grasp_sample.py: 539]
+05/13 21:05:20 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132112m	[env.py: 870]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0908202  -1.21671978 -0.13211155] yaw=-2.3deg	[env.py: 1019]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=298.8ms, total=298.8ms	[env.py: 1075]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.217, -0.132)	[env.py: 1079]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.3 deg	[env.py: 1082]
+05/13 21:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/13 21:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:21 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:22 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: 256]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119726m	[env.py: 870]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32821935 -1.22686999 -0.11972645] yaw=-38.2deg	[env.py: 1019]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=456.0ms, total=456.0ms	[env.py: 1075]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.227, -0.120)	[env.py: 1079]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg	[env.py: 1082]
+05/13 21:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:22 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:05:24 INFO: [Worker 0] Feasibility-checked 225 grasps in 2.800s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:05:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.597[m] 85.407[deg]	[grasp_sample.py: 539]
+05/13 21:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:26 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: 256]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110323m	[env.py: 870]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77289254 -0.73027852 -0.11032305] yaw=-54.8deg	[env.py: 1019]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32904548 -1.17367166 -0.11032305] yaw=-55.6deg	[env.py: 1019]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=323.7ms, total=323.8ms	[env.py: 1075]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.773, -0.730, -0.110)	[env.py: 1079]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg	[env.py: 1082]
+05/13 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:26 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:05:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:27 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191937m	[env.py: 870]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41072265 -1.0509846  -0.19193731] yaw=-39.8deg	[env.py: 1019]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17418803 -0.98727759 -0.19193731] yaw=-28.7deg	[env.py: 1019]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=400.6ms, total=400.6ms	[env.py: 1075]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -1.051, -0.192)	[env.py: 1079]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg	[env.py: 1082]
+05/13 21:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 21:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:29 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:30 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.584[m] 76.844[deg]	[grasp_sample.py: 539]
+05/13 21:05:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:05:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:05:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:05:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:31 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.823[m] 84.562[deg]	[grasp_sample.py: 539]
+05/13 21:05:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:05:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:05:32 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:05:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:05:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:05:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:05:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:05:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:05:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147263m	[env.py: 870]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:05:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51249302 -0.88340572 -0.14726252] yaw=-57.1deg	[env.py: 1019]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3588706  -1.02520159 -0.14726252] yaw=-26.1deg	[env.py: 1019]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.67633349 -0.70197524 -0.14726252] yaw=-56.6deg	[env.py: 1019]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:05:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=429.7ms, total=429.7ms	[env.py: 1075]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.883, -0.147)	[env.py: 1079]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg	[env.py: 1082]
+05/13 21:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 21:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:05:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:05:35 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:05:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:05:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:05:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:05:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:05:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:05:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.876s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:05:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.699[m] 74.560[deg]	[grasp_sample.py: 539]
+05/13 21:05:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:05:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:05:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:05:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:05:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:06:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:06:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:06:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 128 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:06:20 INFO: [Worker 0] Feasibility-checked 128 grasps in 8.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:06:20 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.043[m] 6.626[deg]	[grasp_sample.py: 539]
+05/13 21:06:22 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:06:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:06:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196667m	[env.py: 870]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=175.7ms, total=175.7ms	[env.py: 1105]
+05/13 21:06:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:06:24 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:06:24 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:06:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:06:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128744m	[env.py: 870]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2703005  -1.24975845 -0.12874352] yaw=-11.4deg	[env.py: 1019]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.5ms, total=188.5ms	[env.py: 1075]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.250, -0.129)	[env.py: 1079]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.4 deg	[env.py: 1082]
+05/13 21:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:06:26 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:06:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:06:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:06:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:06:30 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.648[m] 81.835[deg]	[grasp_sample.py: 539]
+05/13 21:06:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:06:31 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:06:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:06:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:06:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128383m	[env.py: 870]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1609959  -1.18656121 -0.12838275] yaw=-34.6deg	[env.py: 1019]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:06:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.8ms	[env.py: 1075]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -1.187, -0.128)	[env.py: 1079]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg	[env.py: 1082]
+05/13 21:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:06:33 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:06:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:06:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:06:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:06:38 INFO: [Worker 0] Feasibility-checked 233 grasps in 3.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:06:38 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.711[m] 88.164[deg]	[grasp_sample.py: 539]
+05/13 21:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:06:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:06:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:06:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:06:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:06:49 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 21:06:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:06:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:06:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:06:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:06:54 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:06:54 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.118[m] 6.873[deg]	[grasp_sample.py: 539]
+05/13 21:06:56 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:06:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:06:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:06:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182993m	[env.py: 870]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:06:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91755882 -0.79992764 -0.18299267] yaw=-86.1deg	[env.py: 1019]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3519333  -0.95468828 -0.18299267] yaw=-59.3deg	[env.py: 1019]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40020418 -1.01700638 -0.18299267] yaw=-63.2deg	[env.py: 1019]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:06:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=231.9ms, total=231.9ms	[env.py: 1075]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.918, -0.800, -0.183)	[env.py: 1079]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.1 deg	[env.py: 1082]
+05/13 21:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:06:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:06:58 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:06:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:06:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:06:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:06:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:07:00 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:07:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.660[m] 102.748[deg]	[grasp_sample.py: 539]
+05/13 21:07:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:07:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:07:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:07:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:07:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:07:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:07:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.82s (batch: 4.91s, save: 9.91s)	[pipeline.py: 300]
+05/13 21:07:05 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.08s:
+  episode_total: mean=79.53s, total=159.06s, count=2, min=3488.9ms, max=155576.0ms
+  sensor_polling: mean=414.1ms, total=103.52s, count=250, min=380.0ms, max=962.5ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9908.2ms, max=9908.2ms
+  physics_step: mean=24.1ms, total=6.03s, count=250, min=16.5ms, max=54.8ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4909.1ms, max=4909.1ms
+  task_sampling: mean=540.2ms, total=1.08s, count=2, min=493.9ms, max=586.5ms
+  task_specific_sample: mean=536.4ms, total=1.07s, count=2, min=490.8ms, max=582.0ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=437.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, 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]
+05/13 21:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:07:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:07:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:07:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:07:07 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: 256]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118054m	[env.py: 870]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=775.9ms, total=776.0ms	[env.py: 1105]
+05/13 21:07:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:07:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:07:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:07:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101957m	[env.py: 870]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55796178 -0.97613552 -0.1019572 ] yaw=-37.7deg	[env.py: 1019]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:07:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.2ms, total=303.2ms	[env.py: 1075]
+05/13 21:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.976, -0.102)	[env.py: 1079]
+05/13 21:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg	[env.py: 1082]
+05/13 21:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 21:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:07:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:07:10 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:07:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:07:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:07:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:07:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:07:13 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:07:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.682[m] 92.861[deg]	[grasp_sample.py: 539]
+05/13 21:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:07:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:07:27 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:07:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:07:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:07:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:07:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:07:50 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 21:07:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:08:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:08:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.50s (batch: 4.28s, save: 9.22s)	[pipeline.py: 300]
+05/13 21:08:05 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.47s:
+  episode_total: mean=43.61s, total=174.42s, count=4, min=3475.9ms, max=156430.4ms
+  sensor_polling: mean=426.9ms, total=107.59s, count=252, min=384.4ms, max=843.4ms
+  save_trajectories: mean=9.22s, total=9.22s, count=1, min=9217.2ms, max=9217.2ms
+  physics_step: mean=24.2ms, total=6.11s, count=252, min=21.3ms, max=47.7ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4279.6ms, max=4279.6ms
+  task_sampling: mean=618.7ms, total=2.47s, count=4, min=478.5ms, max=783.7ms
+  task_specific_sample: mean=614.5ms, total=2.46s, count=4, min=474.1ms, max=779.7ms
+  scene_randomize: mean=2.3ms, total=9.2ms, count=4, min=2.0ms, max=2.7ms
+  mj_forward_sync: mean=436.9us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:08:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:08:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:08:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:08:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:08:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:08:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:08:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194369m	[env.py: 870]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:08:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.68209681 -0.97467324 -0.19436918] yaw=-72.7deg	[env.py: 1019]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59424131 -0.90688886 -0.19436918] yaw=-69.6deg	[env.py: 1019]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:08:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.0ms, total=238.1ms	[env.py: 1075]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.682, -0.975, -0.194)	[env.py: 1079]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg	[env.py: 1082]
+05/13 21:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:08:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:08:07 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:08:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:08:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:08:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:08:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:08:09 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:08:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.528[m] 91.159[deg]	[grasp_sample.py: 539]
+05/13 21:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:08:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:08:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:08:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:08:40 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:09:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:09:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:09:06 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 21:09:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:09:09 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:09:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:09:20 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.07s (batch: 4.63s, save: 10.45s)	[pipeline.py: 300]
+05/13 21:09:22 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.03s:
+  episode_total: mean=55.04s, total=275.22s, count=5, min=185.6ms, max=169362.0ms
+  sensor_polling: mean=409.6ms, total=177.77s, count=434, min=375.4ms, max=795.4ms
+  save_trajectories: mean=10.45s, total=10.45s, count=1, min=10445.2ms, max=10445.2ms
+  physics_step: mean=23.0ms, total=9.96s, count=434, min=16.3ms, max=33.1ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4629.1ms, max=4629.1ms
+  task_specific_sample: mean=439.4ms, total=2.20s, count=5, min=181.3ms, max=564.6ms
+  task_sampling: mean=507.7ms, total=2.03s, count=4, min=468.5ms, max=568.9ms
+  task_sampling_failed: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms
+  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.0ms, max=2.9ms
+  mj_forward_sync: mean=433.4us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:09:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:09:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:09:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:09:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:09:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:09:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:09:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183996m	[env.py: 870]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:09:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73699158 -0.88517192 -0.18399621] yaw=-81.6deg	[env.py: 1019]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:09:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.3ms, total=233.4ms	[env.py: 1075]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.737, -0.885, -0.184)	[env.py: 1079]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.6 deg	[env.py: 1082]
+05/13 21:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/13 21:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:09:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:09:25 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:09:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:09:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:09:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:09:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:09:26 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:09:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.589[m] 91.499[deg]	[grasp_sample.py: 539]
+05/13 21:09:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:09:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:09:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:09:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:09:36 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:09:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:09:36 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 21:09:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:09:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:09:48 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 21:09:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:09:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:09:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.96s (batch: 4.96s, save: 9.99s)	[pipeline.py: 300]
+05/13 21:09:52 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=4.17s:
+  episode_total: mean=51.86s, total=311.14s, count=6, min=3666.2ms, max=173790.5ms
+  sensor_polling: mean=417.8ms, total=189.67s, count=454, min=365.4ms, max=850.1ms
+  physics_step: mean=24.3ms, total=11.03s, count=454, min=16.4ms, max=32.4ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9994.6ms, max=9994.6ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4960.6ms, max=4960.6ms
+  task_sampling: mean=695.2ms, total=4.17s, count=6, min=543.1ms, max=834.7ms
+  task_specific_sample: mean=691.3ms, total=4.15s, count=6, min=539.9ms, max=831.0ms
+  scene_randomize: mean=2.0ms, total=12.0ms, count=6, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=459.3us, total=2.8ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.1us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:09:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:09:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:09:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:09:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:09:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:09:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:09:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143684m	[env.py: 870]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:09:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70109762 -0.9436374  -0.1436838 ] yaw=-66.6deg	[env.py: 1019]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80547381 -0.84782406 -0.1436838 ] yaw=-100.4deg	[env.py: 1019]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63431198 -0.9501809  -0.1436838 ] yaw=-73.7deg	[env.py: 1019]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:09:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms	[env.py: 1075]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.701, -0.944, -0.144)	[env.py: 1079]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/13 21:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:09:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:09:54 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:09:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:09:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:09:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:09:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:09:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:09:57 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.606[m] 90.384[deg]	[grasp_sample.py: 539]
+05/13 21:09:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:10:02 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:10:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:10:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.17s (batch: 5.40s, save: 10.77s)	[pipeline.py: 300]
+05/13 21:10:05 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.62s:
+  episode_total: mean=88.19s, total=176.39s, count=2, min=789.7ms, max=175600.3ms
+  sensor_polling: mean=425.8ms, total=117.51s, count=276, min=379.1ms, max=944.7ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10771.6ms, max=10771.6ms
+  physics_step: mean=25.0ms, total=6.91s, count=276, min=21.3ms, max=37.1ms
+  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5395.2ms, max=5395.2ms
+  task_specific_sample: mean=698.4ms, total=1.40s, count=2, min=613.9ms, max=782.8ms
+  task_sampling_failed: mean=789.7ms, total=789.7ms, count=1, min=789.7ms, max=789.7ms
+  task_sampling: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=444.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:10:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:10:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:10:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:10:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:10:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:10:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:10:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130506m	[env.py: 870]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18717526 -1.25605494 -0.13050633] yaw=-53.6deg	[env.py: 1019]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2342647  -1.25638344 -0.13050633] yaw=-6.4deg	[env.py: 1019]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=796.7ms, total=796.8ms	[env.py: 1075]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.256, -0.131)	[env.py: 1079]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/13 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:10:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:10:08 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:10:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:10:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:10:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:10:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:10:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.288s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:10:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.687[m] 94.511[deg]	[grasp_sample.py: 539]
+05/13 21:10:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:10:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:10:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:10:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:10:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:10:25 INFO: [Worker 0] Preparing episode data: 240 timesteps	[save_utils.py: 278]
+05/13 21:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:10:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:10:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:10:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:10:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.40s (batch: 4.31s, save: 9.10s)	[pipeline.py: 300]
+05/13 21:10:39 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.57s:
+  episode_total: mean=153.31s, total=153.31s, count=1, min=153308.3ms, max=153308.3ms
+  sensor_polling: mean=435.7ms, total=104.12s, count=239, min=383.2ms, max=790.2ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9095.3ms, max=9095.3ms
+  physics_step: mean=24.8ms, total=5.92s, count=239, min=21.4ms, max=33.7ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.9ms, max=4308.9ms
+  task_sampling: mean=565.4ms, total=565.4ms, count=1, min=565.4ms, max=565.4ms
+  task_specific_sample: mean=561.3ms, total=561.3ms, count=1, min=561.3ms, max=561.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=434.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:10:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:10:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:10:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:10:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:10:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:10:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:10:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148431m	[env.py: 870]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:10:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54382444 -1.02476569 -0.14843062] yaw=-83.3deg	[env.py: 1019]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10756409 -1.02789418 -0.14843062] yaw=-66.1deg	[env.py: 1019]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33632001 -1.18460281 -0.14843062] yaw=-64.9deg	[env.py: 1019]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:10:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.7ms	[env.py: 1075]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -1.025, -0.148)	[env.py: 1079]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.3 deg	[env.py: 1082]
+05/13 21:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:10:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:10:42 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:10:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:10:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:10:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:10:43 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:10:43 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.582[m] 98.376[deg]	[grasp_sample.py: 539]
+05/13 21:10:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:10:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:10:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:10:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:11:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:16 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:11:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:11:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:11:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:11:40 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 21:11:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:11:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:11:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:11:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:11:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.63s (batch: 4.40s, save: 9.23s)	[pipeline.py: 300]
+05/13 21:11:55 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.55s:
+  episode_total: mean=150.41s, total=150.41s, count=1, min=150411.6ms, max=150411.6ms
+  sensor_polling: mean=403.4ms, total=101.25s, count=251, min=378.8ms, max=836.7ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9230.7ms, max=9230.7ms
+  physics_step: mean=23.0ms, total=5.78s, count=251, min=16.3ms, max=31.1ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.1ms, max=4396.1ms
+  task_sampling: mean=546.3ms, total=546.3ms, count=1, min=546.3ms, max=546.3ms
+  task_specific_sample: mean=541.9ms, total=541.9ms, count=1, min=541.9ms, max=541.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=438.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.0us, 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]
+05/13 21:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:11:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:11:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:11:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:11:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163159m	[env.py: 870]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.0028834  -1.22090565 -0.16315894] yaw=-17.6deg	[env.py: 1019]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.3ms, total=281.3ms	[env.py: 1075]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -1.221, -0.163)	[env.py: 1079]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg	[env.py: 1082]
+05/13 21:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 21:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:11:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:11:57 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:11:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:11:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:12:00 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.652s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:12:00 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:12:00 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:12:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:12:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100582m	[env.py: 870]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11703597 -1.40938389 -0.10058221] yaw=4.6deg	[env.py: 1019]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27736909 -1.22726266 -0.10058221] yaw=-54.8deg	[env.py: 1019]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.69813726 -0.70962943 -0.10058221] yaw=-80.6deg	[env.py: 1019]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=484.4ms, total=484.4ms	[env.py: 1075]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.409, -0.101)	[env.py: 1079]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 4.6 deg	[env.py: 1082]
+05/13 21:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:12:03 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:12:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:12:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:12:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:12:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:12:11 INFO: [Worker 0] Feasibility-checked 229 grasps in 8.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:12:11 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.720[m] 97.015[deg]	[grasp_sample.py: 539]
+05/13 21:12:12 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:12:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:12:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:12:14 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: 256]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161411m	[env.py: 870]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52958087 -0.94862823 -0.16141116] yaw=-60.4deg	[env.py: 1019]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27939029 -0.94350973 -0.16141116] yaw=-29.2deg	[env.py: 1019]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.6ms, total=255.6ms	[env.py: 1075]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.949, -0.161)	[env.py: 1079]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg	[env.py: 1082]
+05/13 21:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:12:15 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:12:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:12:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:12:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:12:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:12:15 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:12:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:12:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.615[m] 81.774[deg]	[grasp_sample.py: 539]
+05/13 21:12:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:12:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:12:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:12:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:12:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:12:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:12:26 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 21:12:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:12:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:12:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.37s (batch: 4.67s, save: 9.70s)	[pipeline.py: 300]
+05/13 21:12:41 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.55s:
+  episode_total: mean=167.76s, total=167.76s, count=1, min=167755.3ms, max=167755.3ms
+  sensor_polling: mean=403.2ms, total=104.03s, count=258, min=368.9ms, max=899.3ms
+  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9695.5ms, max=9695.5ms
+  physics_step: mean=23.7ms, total=6.11s, count=258, min=21.1ms, max=33.5ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4669.8ms, max=4669.8ms
+  task_sampling: mean=545.4ms, total=545.4ms, count=1, min=545.4ms, max=545.4ms
+  task_specific_sample: mean=541.0ms, total=541.0ms, count=1, min=541.0ms, max=541.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=436.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, 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]
+05/13 21:12:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:12:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:12:42 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 21:12:42 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:12:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:12:43 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: 256]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198755m	[env.py: 870]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23673186 -1.29777629 -0.19875458] yaw=-54.5deg	[env.py: 1019]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8220175  -0.71195432 -0.19875458] yaw=-70.5deg	[env.py: 1019]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=248.1ms, total=248.2ms	[env.py: 1075]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.298, -0.199)	[env.py: 1079]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg	[env.py: 1082]
+05/13 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:12:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:12:43 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:12:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:12:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:12:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:12:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:12:44 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.600[m] 82.788[deg]	[grasp_sample.py: 539]
+05/13 21:12:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:12:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:12:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:12:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:12:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:12:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.71s (batch: 5.58s, save: 10.13s)	[pipeline.py: 300]
+05/13 21:12:59 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.13s:
+  episode_total: mean=172.23s, total=172.23s, count=1, min=172227.2ms, max=172227.2ms
+  sensor_polling: mean=422.5ms, total=113.65s, count=269, min=385.7ms, max=931.5ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10128.1ms, max=10128.1ms
+  physics_step: mean=24.1ms, total=6.50s, count=269, min=18.0ms, max=64.5ms
+  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5578.3ms, max=5578.3ms
+  task_sampling: mean=1.13s, total=1.13s, count=1, min=1127.4ms, max=1127.4ms
+  task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1120.6ms, max=1120.6ms
+  scene_randomize: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms
+  mj_forward_sync: mean=445.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=85.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:13:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146256m	[env.py: 870]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54140409 -0.7365368  -0.14625569] yaw=-93.6deg	[env.py: 1019]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65745644 -0.8974842  -0.14625569] yaw=-63.7deg	[env.py: 1019]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84864944 -0.72763624 -0.14625569] yaw=-73.1deg	[env.py: 1019]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.6ms, total=134.6ms	[env.py: 1075]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.737, -0.146)	[env.py: 1079]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.6 deg	[env.py: 1082]
+05/13 21:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:13:01 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:13:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:13:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:13:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:13:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:13:04 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.650s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:13:04 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:13:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:13:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:13:06 INFO: [Worker 0] Preparing episode data: 248 timesteps	[save_utils.py: 278]
+05/13 21:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:13:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173256m	[env.py: 870]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67749891 -0.73430503 -0.17325586] yaw=-84.4deg	[env.py: 1019]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39783025 -1.10832905 -0.17325586] yaw=-30.6deg	[env.py: 1019]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.76355671 -0.65076872 -0.17325586] yaw=-72.7deg	[env.py: 1019]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms	[env.py: 1075]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.734, -0.173)	[env.py: 1079]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.4 deg	[env.py: 1082]
+05/13 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:13:07 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:13:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:13:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:13:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:13:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:13:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:13:16 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.752[m] 104.031[deg]	[grasp_sample.py: 539]
+05/13 21:13:18 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:13:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:13:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:13:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:13:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:13:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:13:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145510m	[env.py: 870]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:13:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16702648 -1.42156738 -0.14550986] yaw=-38.9deg	[env.py: 1019]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43660298 -0.77064323 -0.14550986] yaw=-76.1deg	[env.py: 1019]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03753687 -1.21244707 -0.14550986] yaw=-45.4deg	[env.py: 1019]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=303.8ms, total=303.9ms	[env.py: 1075]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.422, -0.146)	[env.py: 1079]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg	[env.py: 1082]
+05/13 21:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:13:20 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:13:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.194s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:13:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:13:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:13:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:13:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:13:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:13:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.40s (batch: 4.82s, save: 10.57s)	[pipeline.py: 300]
+05/13 21:13:22 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.62s:
+  episode_total: mean=161.29s, total=161.29s, count=1, min=161287.9ms, max=161287.9ms
+  sensor_polling: mean=433.4ms, total=107.06s, count=247, min=385.2ms, max=985.7ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10573.0ms, max=10573.0ms
+  physics_step: mean=24.8ms, total=6.12s, count=247, min=16.5ms, max=44.3ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.7ms, max=4822.7ms
+  task_sampling: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
+  task_specific_sample: mean=615.3ms, total=615.3ms, count=1, min=615.3ms, max=615.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=430.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:13:23 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:13:23 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.634[m] 75.709[deg]	[grasp_sample.py: 539]
+05/13 21:13:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:13:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:13:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:13:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:13:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:13:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:13:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:13:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135612m	[env.py: 870]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:13:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64081851 -0.70068253 -0.13561191] yaw=-68.0deg	[env.py: 1019]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35512177 -0.96721524 -0.13561191] yaw=-69.4deg	[env.py: 1019]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:13:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.0ms, total=256.1ms	[env.py: 1075]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.701, -0.136)	[env.py: 1079]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg	[env.py: 1082]
+05/13 21:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:13:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:13:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:13:25 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:13:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:13:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:13:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:13:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:13:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.604s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:13:27 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:13:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:13:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:13:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:13:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:13:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:13:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136900m	[env.py: 870]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:13:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12708955 -1.34751978 -0.13689956] yaw=-46.4deg	[env.py: 1019]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45269219 -0.94672323 -0.13689956] yaw=-37.3deg	[env.py: 1019]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:13:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=353.0ms, total=353.1ms	[env.py: 1075]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -1.348, -0.137)	[env.py: 1079]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg	[env.py: 1082]
+05/13 21:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:13:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:13:30 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:13:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:13:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:13:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:13:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.037s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:13:39 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.654[m] 95.491[deg]	[grasp_sample.py: 539]
+05/13 21:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:13:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:13:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:13:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:14:13 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:14:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:14:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:14:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:14:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:14:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:14:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:14:36 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 21:14:37 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:14:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:14:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:14:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:14:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:14:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.62s (batch: 4.87s, save: 9.75s)	[pipeline.py: 300]
+05/13 21:14:52 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=2.06s:
+  episode_total: mean=57.13s, total=171.38s, count=3, min=3493.7ms, max=157531.4ms
+  sensor_polling: mean=408.9ms, total=104.69s, count=256, min=376.4ms, max=794.6ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.3ms, max=9750.3ms
+  physics_step: mean=23.6ms, total=6.05s, count=256, min=21.1ms, max=30.6ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4874.1ms, max=4874.1ms
+  task_sampling: mean=685.6ms, total=2.06s, count=3, min=583.4ms, max=877.7ms
+  task_specific_sample: mean=681.7ms, total=2.05s, count=3, min=579.2ms, max=874.2ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=445.6us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:14:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:14:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:14:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:14:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:14:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:14:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:14:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153765m	[env.py: 870]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:14:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60072994 -0.88437328 -0.15376463] yaw=-45.9deg	[env.py: 1019]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.82088688 -0.66544082 -0.15376463] yaw=-75.4deg	[env.py: 1019]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:14:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.6ms, total=236.6ms	[env.py: 1075]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.884, -0.154)	[env.py: 1079]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg	[env.py: 1082]
+05/13 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:14:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:14:54 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:14:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:14:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:14:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:14:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:03 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:15:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:15:03 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 21:15:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.236s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:04 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.699[m] 89.548[deg]	[grasp_sample.py: 539]
+05/13 21:15:05 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:15:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:06 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: 256]
+05/13 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164243m	[env.py: 870]
+05/13 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17777682 -1.2292145  -0.16424291] yaw=-10.3deg	[env.py: 1019]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=578.1ms, total=578.1ms	[env.py: 1075]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.229, -0.164)	[env.py: 1079]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.3 deg	[env.py: 1082]
+05/13 21:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 21:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:07 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:10 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.681[m] 82.875[deg]	[grasp_sample.py: 539]
+05/13 21:15:11 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:15:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147135m	[env.py: 870]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60113179 -0.85632412 -0.14713531] yaw=-43.5deg	[env.py: 1019]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=532.3ms, total=532.3ms	[env.py: 1075]
+05/13 21:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.856, -0.147)	[env.py: 1079]
+05/13 21:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg	[env.py: 1082]
+05/13 21:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 21:15:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:14 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:15:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:15:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.57s (batch: 4.65s, save: 9.92s)	[pipeline.py: 300]
+05/13 21:15:18 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.56s:
+  episode_total: mean=155.35s, total=155.35s, count=1, min=155347.5ms, max=155347.5ms
+  sensor_polling: mean=409.4ms, total=103.98s, count=254, min=370.8ms, max=818.4ms
+  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9918.3ms, max=9918.3ms
+  physics_step: mean=25.1ms, total=6.37s, count=254, min=21.2ms, max=63.0ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.2ms, max=4648.2ms
+  task_sampling: mean=557.9ms, total=557.9ms, count=1, min=557.9ms, max=557.9ms
+  task_specific_sample: mean=553.5ms, total=553.5ms, count=1, min=553.5ms, max=553.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=433.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.6us, 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]
+05/13 21:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173491m	[env.py: 870]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3305323  -0.95785186 -0.17349085] yaw=-26.7deg	[env.py: 1019]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.319598   -1.05091699 -0.17349085] yaw=-30.3deg	[env.py: 1019]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28050314 -0.98916756 -0.17349085] yaw=-27.7deg	[env.py: 1019]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.4ms, total=253.5ms	[env.py: 1075]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.958, -0.173)	[env.py: 1079]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.7 deg	[env.py: 1082]
+05/13 21:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:20 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:23 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:15:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:24 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.761[m] 76.759[deg]	[grasp_sample.py: 539]
+05/13 21:15:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:25 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.741[m] 85.392[deg]	[grasp_sample.py: 539]
+05/13 21:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:15:27 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:15:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196707m	[env.py: 870]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.67537891 -0.93601926 -0.19670711] yaw=-56.4deg	[env.py: 1019]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36265545 -1.0056815  -0.19670711] yaw=-33.9deg	[env.py: 1019]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.2ms	[env.py: 1075]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.675, -0.936, -0.197)	[env.py: 1079]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/13 21:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:28 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.173s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166511m	[env.py: 870]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04179505 -1.25576197 -0.16651086] yaw=-37.3deg	[env.py: 1019]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06283281 -1.39681846 -0.16651086] yaw=-7.2deg	[env.py: 1019]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=333.9ms, total=333.9ms	[env.py: 1075]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -1.256, -0.167)	[env.py: 1079]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg	[env.py: 1082]
+05/13 21:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:29 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.596[m] 83.458[deg]	[grasp_sample.py: 539]
+05/13 21:15:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:15:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:15:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:15:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:15:32 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.694s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:15:32 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:34 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: 256]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152512m	[env.py: 870]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.8519669  -0.84583118 -0.15251165] yaw=-67.5deg	[env.py: 1019]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.88775072 -0.82968373 -0.15251165] yaw=-77.0deg	[env.py: 1019]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=216.0ms	[env.py: 1075]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.852, -0.846, -0.153)	[env.py: 1079]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg	[env.py: 1082]
+05/13 21:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:35 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:37 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.640[m] 85.312[deg]	[grasp_sample.py: 539]
+05/13 21:15:39 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:15:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:41 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: 256]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198569m	[env.py: 870]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64216332 -0.7979197  -0.19856927] yaw=-46.9deg	[env.py: 1019]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.1ms, total=275.2ms	[env.py: 1075]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.798, -0.199)	[env.py: 1079]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg	[env.py: 1082]
+05/13 21:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:41 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.371s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.753[m] 91.342[deg]	[grasp_sample.py: 539]
+05/13 21:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:15:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:15:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:15:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:15:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:15:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:15:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 313 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:15:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:15:51 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 21:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.421s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:15:51 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177329m	[env.py: 870]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.2ms, total=214.2ms	[env.py: 1105]
+05/13 21:15:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:15:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:15:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:15:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:15:54 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: 256]
+05/13 21:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125639m	[env.py: 870]
+05/13 21:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15883582 -1.41050752 -0.12563924] yaw=-21.4deg	[env.py: 1019]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81868621 -0.75967771 -0.12563924] yaw=-71.0deg	[env.py: 1019]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.8ms	[env.py: 1075]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.411, -0.126)	[env.py: 1079]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.4 deg	[env.py: 1082]
+05/13 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:15:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:15:55 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:15:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:15:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:15:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:15:56 INFO: [Worker 0] Feasibility-checked 227 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:15:56 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.640[m] 86.661[deg]	[grasp_sample.py: 539]
+05/13 21:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:15:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:16:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:16:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:16:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.70s (batch: 5.32s, save: 9.38s)	[pipeline.py: 300]
+05/13 21:16:06 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.43s:
+  episode_total: mean=60.40s, total=181.20s, count=3, min=3338.4ms, max=166585.1ms
+  sensor_polling: mean=421.9ms, total=110.11s, count=261, min=386.8ms, max=976.8ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9382.0ms, max=9382.0ms
+  physics_step: mean=24.3ms, total=6.35s, count=261, min=21.7ms, max=65.7ms
+  save_batch_prep: mean=5.32s, total=5.32s, count=1, min=5316.6ms, max=5316.6ms
+  task_sampling: mean=475.7ms, total=1.43s, count=3, min=390.2ms, max=607.9ms
+  task_specific_sample: mean=471.8ms, total=1.42s, count=3, min=386.8ms, max=604.0ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=475.6us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:16:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:16:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:16:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:16:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:16:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:16:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:16:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147554m	[env.py: 870]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:16:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45424981 -1.03997269 -0.14755351] yaw=-32.3deg	[env.py: 1019]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:16:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=295.3ms, total=295.4ms	[env.py: 1075]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.454, -1.040, -0.148)	[env.py: 1079]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg	[env.py: 1082]
+05/13 21:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:16:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:16:09 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:16:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:16:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:16:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:16:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:16:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.307s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:16:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.604[m] 79.511[deg]	[grasp_sample.py: 539]
+05/13 21:16:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:16:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:16:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:16:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:16:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:16:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:16:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:16:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:16:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:17:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:17:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:17:10 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:17:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:17:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:17:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:17:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 91 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:17:10 INFO: [Worker 0] Feasibility-checked 91 grasps in 0.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:17:10 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.039[m] 3.343[deg]	[grasp_sample.py: 539]
+05/13 21:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:17:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:17:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:17:25 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:17:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:17:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:17:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:17:52 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 21:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:17:57 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:18:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:18:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:18:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.219s, found 103 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:02 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:18:05 INFO: [Worker 0] Feasibility-checked 103 grasps in 2.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:18:05 INFO: [Worker 0] Feasible grasp found 164 (originally 164): w/ 0.040[m] 7.056[deg]	[grasp_sample.py: 539]
+05/13 21:18:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:18:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:18:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:18:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:18:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:18:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:18:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 17.75s (batch: 7.15s, save: 10.59s)	[pipeline.py: 300]
+05/13 21:18:11 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.28s:
+  episode_total: mean=84.57s, total=169.15s, count=2, min=6011.5ms, max=163134.9ms
+  sensor_polling: mean=409.4ms, total=104.81s, count=256, min=372.5ms, max=844.8ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10593.6ms, max=10593.6ms
+  save_batch_prep: mean=7.15s, total=7.15s, count=1, min=7152.3ms, max=7152.3ms
+  physics_step: mean=24.4ms, total=6.25s, count=256, min=16.6ms, max=65.7ms
+  task_sampling: mean=640.7ms, total=1.28s, count=2, min=631.0ms, max=650.4ms
+  task_specific_sample: mean=635.9ms, total=1.27s, count=2, min=626.4ms, max=645.4ms
+  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=2.1ms, max=3.0ms
+  mj_forward_sync: mean=446.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, 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]
+05/13 21:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121676m	[env.py: 870]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40280094 -1.01264824 -0.12167632] yaw=-70.4deg	[env.py: 1019]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30091598 -1.07714611 -0.12167632] yaw=-25.0deg	[env.py: 1019]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7936948  -0.93418073 -0.12167632] yaw=-84.7deg	[env.py: 1019]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=172.5ms, total=172.6ms	[env.py: 1075]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.013, -0.122)	[env.py: 1079]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg	[env.py: 1082]
+05/13 21:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:14 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.179s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:18:17 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.701[m] 90.766[deg]	[grasp_sample.py: 539]
+05/13 21:18:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:18:18 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:18:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130374m	[env.py: 870]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17612951 -1.21072937 -0.13037396] yaw=-57.3deg	[env.py: 1019]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12894628 -1.04972199 -0.13037396] yaw=-19.5deg	[env.py: 1019]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16564647 -1.32346904 -0.13037396] yaw=-41.2deg	[env.py: 1019]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.7ms, total=133.8ms	[env.py: 1075]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.176, -1.211, -0.130)	[env.py: 1079]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg	[env.py: 1082]
+05/13 21:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:20 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:18:25 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:18:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:18:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 21:18:27 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:18:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:18:27 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.744[m] 95.358[deg]	[grasp_sample.py: 539]
+05/13 21:18:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:18:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:18:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:18:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:18:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:18:28 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 21:18:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:18:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:18:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:18:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 18.02s (batch: 5.99s, save: 12.03s)	[pipeline.py: 300]
+05/13 21:18:44 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=3.86s:
+  episode_total: mean=36.85s, total=221.10s, count=6, min=3576.9ms, max=183186.7ms
+  sensor_polling: mean=395.6ms, total=118.69s, count=300, min=371.9ms, max=799.1ms
+  save_trajectories: mean=12.03s, total=12.03s, count=1, min=12031.9ms, max=12031.9ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=17.8ms, max=32.9ms
+  save_batch_prep: mean=5.99s, total=5.99s, count=1, min=5992.8ms, max=5992.8ms
+  task_sampling: mean=643.2ms, total=3.86s, count=6, min=474.9ms, max=872.4ms
+  task_specific_sample: mean=639.6ms, total=3.84s, count=6, min=472.0ms, max=868.8ms
+  scene_randomize: mean=1.7ms, total=10.3ms, count=6, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=433.1us, total=2.6ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:18:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:18:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.22s (batch: 6.12s, save: 10.11s)	[pipeline.py: 300]
+05/13 21:18:45 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.62s:
+  episode_total: mean=156.84s, total=156.84s, count=1, min=156842.7ms, max=156842.7ms
+  sensor_polling: mean=404.6ms, total=103.58s, count=256, min=372.4ms, max=995.2ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10108.2ms, max=10108.2ms
+  save_batch_prep: mean=6.12s, total=6.12s, count=1, min=6115.0ms, max=6115.0ms
+  physics_step: mean=23.3ms, total=5.96s, count=256, min=16.6ms, max=37.3ms
+  task_sampling: mean=621.4ms, total=621.4ms, count=1, min=621.4ms, max=621.4ms
+  task_specific_sample: mean=617.0ms, total=617.0ms, count=1, min=617.0ms, max=617.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.7us, 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]
+05/13 21:18:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105452m	[env.py: 870]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43684553 -0.844576   -0.10545196] yaw=-51.4deg	[env.py: 1019]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22814981 -1.12253332 -0.10545196] yaw=-62.6deg	[env.py: 1019]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62539909 -0.94296471 -0.10545196] yaw=-91.7deg	[env.py: 1019]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms	[env.py: 1075]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.845, -0.105)	[env.py: 1079]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg	[env.py: 1082]
+05/13 21:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:46 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101889m	[env.py: 870]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35441988 -0.90984423 -0.10188905] yaw=-45.2deg	[env.py: 1019]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02223725 -1.37817687 -0.10188905] yaw=4.0deg	[env.py: 1019]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10003725 -1.41478145 -0.10188905] yaw=-30.8deg	[env.py: 1019]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.8ms, total=268.8ms	[env.py: 1075]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -0.910, -0.102)	[env.py: 1079]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg	[env.py: 1082]
+05/13 21:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:48 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.180s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:18:53 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 21:18:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:18:53 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.751[m] 90.917[deg]	[grasp_sample.py: 539]
+05/13 21:18:55 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:18:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105462m	[env.py: 870]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33700981 -0.81804391 -0.10546173] yaw=-60.8deg	[env.py: 1019]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=278.8ms, total=278.9ms	[env.py: 1075]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -0.818, -0.105)	[env.py: 1079]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:56 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:18:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:18:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:18:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:18:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:18:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151531m	[env.py: 870]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:18:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49158597 -0.82292068 -0.15153129] yaw=-72.6deg	[env.py: 1019]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15774321 -1.20550073 -0.15153129] yaw=-28.8deg	[env.py: 1019]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45168871 -0.86051901 -0.15153129] yaw=-74.4deg	[env.py: 1019]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:18:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.8ms, total=161.9ms	[env.py: 1075]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.823, -0.152)	[env.py: 1079]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg	[env.py: 1082]
+05/13 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:18:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:18:57 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:18:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:18:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:18:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:18:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:18:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:18:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:18:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 21:18:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.826s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:18:59 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:19:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.792[m] 86.814[deg]	[grasp_sample.py: 539]
+05/13 21:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:19:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:19:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:19:01 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: 256]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199127m	[env.py: 870]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.86880662 -0.86375814 -0.1991272 ] yaw=-103.8deg	[env.py: 1019]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms	[env.py: 1075]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.869, -0.864, -0.199)	[env.py: 1079]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.8 deg	[env.py: 1082]
+05/13 21:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:01 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:19:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:19:01 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:19:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:19:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:03 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.331s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:03 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.625[m] 101.361[deg]	[grasp_sample.py: 539]
+05/13 21:19:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:19:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:19:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:19:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:19:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152391m	[env.py: 870]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40361629 -0.99756114 -0.1523912 ] yaw=-47.6deg	[env.py: 1019]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=213.0ms	[env.py: 1075]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.998, -0.152)	[env.py: 1079]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 21:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:19:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:19:04 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:19:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:19:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.641[m] 85.163[deg]	[grasp_sample.py: 539]
+05/13 21:19:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:19:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:19:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:19:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:19:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.54s (batch: 5.13s, save: 11.41s)	[pipeline.py: 300]
+05/13 21:19:15 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.71s:
+  episode_total: mean=86.26s, total=345.05s, count=4, min=225.2ms, max=200362.8ms
+  sensor_polling: mean=420.7ms, total=235.57s, count=560, min=384.8ms, max=835.0ms
+  physics_step: mean=24.7ms, total=13.83s, count=560, min=16.9ms, max=62.7ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11409.4ms, max=11409.4ms
+  save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5126.9ms, max=5126.9ms
+  task_specific_sample: mean=477.9ms, total=1.91s, count=4, min=220.3ms, max=616.5ms
+  task_sampling: mean=568.6ms, total=1.71s, count=3, min=499.4ms, max=621.8ms
+  task_sampling_failed: mean=225.2ms, total=225.2ms, count=1, min=225.2ms, max=225.2ms
+  scene_randomize: mean=1.9ms, total=7.8ms, count=4, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=560.3us, total=2.2ms, count=4, min=0.4ms, max=0.8ms
+  policy_setup: mean=17.9us, total=0.1ms, 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]
+05/13 21:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:19:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:19:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178207m	[env.py: 870]
+05/13 21:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11620424 -1.26279708 -0.17820727] yaw=-27.1deg	[env.py: 1019]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61414325 -0.79988314 -0.17820727] yaw=-80.8deg	[env.py: 1019]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57329438 -0.70412973 -0.17820727] yaw=-63.6deg	[env.py: 1019]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.7ms, total=117.7ms	[env.py: 1075]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.263, -0.178)	[env.py: 1079]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.1 deg	[env.py: 1082]
+05/13 21:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 21:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:19:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:20 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.701s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:20 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.657[m] 80.716[deg]	[grasp_sample.py: 539]
+05/13 21:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:21 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:19:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190875m	[env.py: 870]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68993011 -0.96550514 -0.19087459] yaw=-60.0deg	[env.py: 1019]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=221.2ms, total=221.2ms	[env.py: 1075]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.690, -0.966, -0.191)	[env.py: 1079]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/13 21:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:19:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:19:24 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.600[m] 88.623[deg]	[grasp_sample.py: 539]
+05/13 21:19:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:19:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:19:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:19:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:19:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:35 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.621s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:35 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.496[m] 73.635[deg]	[grasp_sample.py: 539]
+05/13 21:19:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:19:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:19:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:19:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:19:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:19:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:19:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:19:50 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:19:50 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.491[m] 72.827[deg]	[grasp_sample.py: 539]
+05/13 21:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:19:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:20:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:20:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:20:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:01 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:20:01 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.392[m] 52.351[deg]	[grasp_sample.py: 539]
+05/13 21:20:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:20:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:20:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:20:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:20:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:20:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:20:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:05 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:20:05 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.491[m] 72.829[deg]	[grasp_sample.py: 539]
+05/13 21:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:20:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:20:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:20:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 21:20:19 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 21:20:19 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=1.93s:
+  episode_total: mean=29.92s, total=89.75s, count=3, min=3846.6ms, max=78541.0ms
+  sensor_polling: mean=421.9ms, total=30.37s, count=72, min=381.5ms, max=795.2ms
+  task_sampling: mean=642.4ms, total=1.93s, count=3, min=580.1ms, max=735.4ms
+  task_specific_sample: mean=638.0ms, total=1.91s, count=3, min=575.7ms, max=730.1ms
+  physics_step: mean=20.5ms, total=1.48s, count=72, min=14.4ms, max=30.6ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=470.0us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=27.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:20:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:20:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:20:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:20:21 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: 256]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152604m	[env.py: 870]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82600687 -0.86059897 -0.15260353] yaw=-69.1deg	[env.py: 1019]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28025233 -0.89812153 -0.15260353] yaw=-71.7deg	[env.py: 1019]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.9ms, total=218.9ms	[env.py: 1075]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.826, -0.861, -0.153)	[env.py: 1079]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg	[env.py: 1082]
+05/13 21:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:20:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:20:22 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:20:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:20:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:20:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:20:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:20:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:20:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.627[m] 97.426[deg]	[grasp_sample.py: 539]
+05/13 21:20:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:20:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:20:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:20:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:46 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:20:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:20:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:21:10 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:21:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:21:14 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/13 21:21:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:21:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:21:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:21:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.71s (batch: 6.08s, save: 10.62s)	[pipeline.py: 300]
+05/13 21:21:32 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.06s:
+  episode_total: mean=98.54s, total=197.08s, count=2, min=4974.9ms, max=192103.4ms
+  sensor_polling: mean=456.9ms, total=128.83s, count=282, min=394.0ms, max=941.0ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10621.4ms, max=10621.4ms
+  physics_step: mean=25.9ms, total=7.31s, count=282, min=17.1ms, max=57.9ms
+  save_batch_prep: mean=6.08s, total=6.08s, count=1, min=6083.7ms, max=6083.7ms
+  task_sampling: mean=531.6ms, total=1.06s, count=2, min=424.2ms, max=639.1ms
+  task_specific_sample: mean=525.9ms, total=1.05s, count=2, min=421.0ms, max=630.7ms
+  scene_randomize: mean=3.8ms, total=7.6ms, count=2, min=1.2ms, max=6.4ms
+  mj_forward_sync: mean=583.0us, total=1.2ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:21:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:21:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:21:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181948m	[env.py: 870]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62228819 -0.98749476 -0.18194757] yaw=-94.3deg	[env.py: 1019]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.2ms, total=230.2ms	[env.py: 1075]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.987, -0.182)	[env.py: 1079]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.3 deg	[env.py: 1082]
+05/13 21:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:21:35 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:21:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:21:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:21:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:21:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:21:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:21:36 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 21:21:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:21:41 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:21:41 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.627[m] 104.015[deg]	[grasp_sample.py: 539]
+05/13 21:21:43 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:21:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:21:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:21:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:21:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:21:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:21:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135814m	[env.py: 870]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:21:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07357836 -1.31909803 -0.13581367] yaw=-3.6deg	[env.py: 1019]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67747076 -0.7513322  -0.13581367] yaw=-66.8deg	[env.py: 1019]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:21:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.2ms, total=230.2ms	[env.py: 1075]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.074, -1.319, -0.136)	[env.py: 1079]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.6 deg	[env.py: 1082]
+05/13 21:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 21:21:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:21:45 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:21:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:21:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:21:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:21:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:21:47 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:21:48 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.597s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:21:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:21:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:21:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:21:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153581m	[env.py: 870]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26602062 -1.28475543 -0.15358087] yaw=-61.5deg	[env.py: 1019]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50285912 -0.8941983  -0.15358087] yaw=-52.6deg	[env.py: 1019]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.7680164  -0.65143574 -0.15358087] yaw=-55.0deg	[env.py: 1019]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=330.9ms, total=331.0ms	[env.py: 1075]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.285, -0.154)	[env.py: 1079]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg	[env.py: 1082]
+05/13 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:21:50 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:21:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:21:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:21:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:21:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:21:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.99s (batch: 4.18s, save: 9.81s)	[pipeline.py: 300]
+05/13 21:21:51 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.57s:
+  episode_total: mean=60.27s, total=180.80s, count=3, min=5133.7ms, max=168203.7ms
+  sensor_polling: mean=432.2ms, total=113.66s, count=263, min=375.3ms, max=996.3ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9809.8ms, max=9809.8ms
+  physics_step: mean=25.5ms, total=6.70s, count=263, min=17.4ms, max=35.8ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.8ms, max=4177.8ms
+  task_sampling: mean=524.0ms, total=1.57s, count=3, min=457.7ms, max=618.4ms
+  task_specific_sample: mean=520.4ms, total=1.56s, count=3, min=455.0ms, max=614.2ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=437.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:21:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:21:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:21:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:21:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:21:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:21:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175669m	[env.py: 870]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:21:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51821682 -1.02369507 -0.17566875] yaw=-68.0deg	[env.py: 1019]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45306772 -1.07451102 -0.17566875] yaw=-68.6deg	[env.py: 1019]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14254986 -1.34835423 -0.17566875] yaw=-36.1deg	[env.py: 1019]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:21:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.6ms	[env.py: 1075]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -1.024, -0.176)	[env.py: 1079]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg	[env.py: 1082]
+05/13 21:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:21:53 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:21:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:21:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:21:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:21:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.253s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:21:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.586[m] 86.368[deg]	[grasp_sample.py: 539]
+05/13 21:21:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:21:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:21:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:21:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:21:56 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.608[m] 94.326[deg]	[grasp_sample.py: 539]
+05/13 21:21:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:21:57 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:21:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:21:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:21:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:21:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:21:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:21:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:21:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:21:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:21:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101776m	[env.py: 870]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:21:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03078039 -1.31538618 -0.10177587] yaw=-18.5deg	[env.py: 1019]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50454145 -0.7559885  -0.10177587] yaw=-79.4deg	[env.py: 1019]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12593987 -1.2255488  -0.10177587] yaw=-28.3deg	[env.py: 1019]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:22:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=491.6ms, total=491.6ms	[env.py: 1075]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.031, -1.315, -0.102)	[env.py: 1079]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.5 deg	[env.py: 1082]
+05/13 21:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 21:22:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:22:00 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:22:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:22:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:22:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:22:03 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.677s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:22:03 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:22:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:22:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:22:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:22:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:22:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:22:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:22:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191472m	[env.py: 870]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:22:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40986211 -0.97785433 -0.19147234] yaw=-44.3deg	[env.py: 1019]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=312.8ms, total=312.8ms	[env.py: 1075]
+05/13 21:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -0.978, -0.191)	[env.py: 1079]
+05/13 21:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg	[env.py: 1082]
+05/13 21:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 21:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:22:06 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:22:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:22:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:22:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:22:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:22:09 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:22:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.646[m] 76.093[deg]	[grasp_sample.py: 539]
+05/13 21:22:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:22:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:22:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:22:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:22:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:22:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:22:16 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 21:22:27 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:22:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:22:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:22:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.68s (batch: 4.74s, save: 9.94s)	[pipeline.py: 300]
+05/13 21:22:31 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.95s:
+  episode_total: mean=96.66s, total=193.32s, count=2, min=4853.3ms, max=188463.1ms
+  sensor_polling: mean=426.8ms, total=113.54s, count=266, min=387.3ms, max=811.8ms
+  save_trajectories: mean=9.94s, total=9.94s, count=1, min=9943.8ms, max=9943.8ms
+  physics_step: mean=24.2ms, total=6.44s, count=266, min=16.7ms, max=33.1ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4738.4ms, max=4738.4ms
+  task_sampling: mean=475.7ms, total=951.3ms, count=2, min=440.5ms, max=510.8ms
+  task_specific_sample: mean=471.8ms, total=943.6ms, count=2, min=436.2ms, max=507.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=438.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, 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]
+05/13 21:22:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:22:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:22:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:22:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:22:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:22:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182194m	[env.py: 870]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:22:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68194244 -0.70985701 -0.18219364] yaw=-59.8deg	[env.py: 1019]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11427652 -1.19232939 -0.18219364] yaw=-36.8deg	[env.py: 1019]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49549918 -0.85998694 -0.18219364] yaw=-58.9deg	[env.py: 1019]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:22:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.6ms, total=185.6ms	[env.py: 1075]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.682, -0.710, -0.182)	[env.py: 1079]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/13 21:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:22:34 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:22:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:22:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:22:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.758s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:22:37 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:22:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:22:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:22:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185412m	[env.py: 870]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65835743 -0.83233609 -0.18541214] yaw=-68.3deg	[env.py: 1019]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:22:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.7ms	[env.py: 1075]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.832, -0.185)	[env.py: 1079]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg	[env.py: 1082]
+05/13 21:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 21:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:22:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:22:39 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:22:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:22:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:22:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:22:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:22:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:22:53 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:22:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:22:53 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 21:22:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 15.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:22:54 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.666[m] 99.572[deg]	[grasp_sample.py: 539]
+05/13 21:22:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:22:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:22:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:22:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:23:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:23:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:23:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:23:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:23:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:23:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.14s (batch: 4.45s, save: 9.69s)	[pipeline.py: 300]
+05/13 21:23:07 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.54s:
+  episode_total: mean=166.27s, total=166.27s, count=1, min=166267.9ms, max=166267.9ms
+  sensor_polling: mean=412.6ms, total=109.34s, count=265, min=372.0ms, max=861.0ms
+  save_trajectories: mean=9.69s, total=9.69s, count=1, min=9686.4ms, max=9686.4ms
+  physics_step: mean=24.4ms, total=6.47s, count=265, min=16.5ms, max=68.5ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4454.2ms, max=4454.2ms
+  task_sampling: mean=544.6ms, total=544.6ms, count=1, min=544.6ms, max=544.6ms
+  task_specific_sample: mean=540.9ms, total=540.9ms, count=1, min=540.9ms, max=540.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=428.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:23:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:23:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:23:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:23:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:23:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:23:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199984m	[env.py: 870]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:23:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18416478 -1.36034554 -0.19998447] yaw=-39.2deg	[env.py: 1019]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:23:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=348.4ms, total=348.4ms	[env.py: 1075]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.360, -0.200)	[env.py: 1079]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg	[env.py: 1082]
+05/13 21:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:23:10 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:23:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:23:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:23:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:23:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:23:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:23:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:23:30 INFO: [Worker 0] Feasibility-checked 236 grasps in 19.924s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:23:30 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.594[m] 86.671[deg]	[grasp_sample.py: 539]
+05/13 21:23:31 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:23:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:23:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:23:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:23:33 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: 256]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110344m	[env.py: 870]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=300.6ms, total=300.6ms	[env.py: 1105]
+05/13 21:23:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:23:33 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:23:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:23:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:23:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:23:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:23:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:23:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151749m	[env.py: 870]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:23:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.6ms, total=212.7ms	[env.py: 1105]
+05/13 21:23:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:23:35 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:23:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:23:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:23:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:23:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:23:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:23:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188692m	[env.py: 870]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:23:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47268857 -1.05822182 -0.18869188] yaw=-83.2deg	[env.py: 1019]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:23:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.6ms, total=203.6ms	[env.py: 1075]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -1.058, -0.189)	[env.py: 1079]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.2 deg	[env.py: 1082]
+05/13 21:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:23:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:23:38 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:23:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:23:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:23:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:23:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:23:39 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.261s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:23:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.627[m] 90.813[deg]	[grasp_sample.py: 539]
+05/13 21:23:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:23:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:23:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:23:54 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:23:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:24:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:08 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:24:10 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:24:10 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.271[m] 15.418[deg]	[grasp_sample.py: 539]
+05/13 21:24:12 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:24:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:13 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: 256]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164061m	[env.py: 870]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8875887  -0.66305636 -0.16406123] yaw=-115.0deg	[env.py: 1019]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53881952 -0.95518186 -0.16406123] yaw=-37.0deg	[env.py: 1019]
+05/13 21:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.0826054  -1.21533927 -0.16406123] yaw=-49.9deg	[env.py: 1019]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.3ms	[env.py: 1075]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.888, -0.663, -0.164)	[env.py: 1079]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.0 deg	[env.py: 1082]
+05/13 21:24:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 21:24:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:14 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:17 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.812s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:24:17 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141963m	[env.py: 870]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.5ms, total=274.5ms	[env.py: 1105]
+05/13 21:24:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:24:20 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:24:21 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:24:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:24:21 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 21:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121722m	[env.py: 870]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22468634 -1.25432521 -0.12172216] yaw=-49.2deg	[env.py: 1019]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.8ms, total=235.9ms	[env.py: 1075]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.254, -0.122)	[env.py: 1079]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/13 21:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:23 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:24:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.685[m] 89.260[deg]	[grasp_sample.py: 539]
+05/13 21:24:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:24:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:24:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:24:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:24:33 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 21:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:24:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:24:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:24:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.17s (batch: 4.92s, save: 9.25s)	[pipeline.py: 300]
+05/13 21:24:35 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.54s:
+  episode_total: mean=162.49s, total=162.49s, count=1, min=162485.0ms, max=162485.0ms
+  sensor_polling: mean=427.3ms, total=106.83s, count=250, min=378.7ms, max=949.9ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9247.7ms, max=9247.7ms
+  physics_step: mean=25.0ms, total=6.24s, count=250, min=16.5ms, max=86.1ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4923.8ms, max=4923.8ms
+  task_sampling: mean=541.0ms, total=541.0ms, count=1, min=541.0ms, max=541.0ms
+  task_specific_sample: mean=537.0ms, total=537.0ms, count=1, min=537.0ms, max=537.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=439.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=45.1us, 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]
+05/13 21:24:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:37 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: 256]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148938m	[env.py: 870]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47103963 -0.8413507  -0.14893771] yaw=-51.6deg	[env.py: 1019]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.79664633 -0.93696312 -0.14893771] yaw=-86.4deg	[env.py: 1019]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=778.8ms, total=778.9ms	[env.py: 1075]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.841, -0.149)	[env.py: 1079]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg	[env.py: 1082]
+05/13 21:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 21:24:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:24:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:38 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:24:47 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.746[m] 86.176[deg]	[grasp_sample.py: 539]
+05/13 21:24:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:24:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:24:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.91s (batch: 4.96s, save: 9.95s)	[pipeline.py: 300]
+05/13 21:24:49 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:24:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:24:49 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=3.03s:
+  episode_total: mean=37.31s, total=186.57s, count=5, min=3323.7ms, max=163497.6ms
+  sensor_polling: mean=416.1ms, total=109.44s, count=263, min=380.4ms, max=883.6ms
+  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9950.8ms, max=9950.8ms
+  physics_step: mean=24.4ms, total=6.41s, count=263, min=16.8ms, max=89.6ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4957.6ms, max=4957.6ms
+  task_sampling: mean=606.6ms, total=3.03s, count=5, min=503.7ms, max=785.2ms
+  task_specific_sample: mean=602.8ms, total=3.01s, count=5, min=500.3ms, max=781.1ms
+  scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.1ms, max=3.3ms
+  mj_forward_sync: mean=499.1us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:24:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147032m	[env.py: 870]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17733652 -1.0244983  -0.14703213] yaw=-44.5deg	[env.py: 1019]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=328.2ms, total=328.3ms	[env.py: 1075]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.024, -0.147)	[env.py: 1079]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124769m	[env.py: 870]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35795791 -1.13811548 -0.12476886] yaw=-17.7deg	[env.py: 1019]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:51 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=291.0ms, total=291.0ms	[env.py: 1075]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.138, -0.125)	[env.py: 1079]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.7 deg	[env.py: 1082]
+05/13 21:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:51 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:24:54 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:24:54 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.662[m] 78.788[deg]	[grasp_sample.py: 539]
+05/13 21:24:54 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.858s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:24:54 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:24:55 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:57 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: 256]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175273m	[env.py: 870]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.3ms, total=213.4ms	[env.py: 1105]
+05/13 21:24:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:24:57 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105672m	[env.py: 870]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01950801 -1.16260945 -0.10567203] yaw=-47.0deg	[env.py: 1019]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.2ms	[env.py: 1075]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.020, -1.163, -0.106)	[env.py: 1079]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg	[env.py: 1082]
+05/13 21:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:24:57 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:24:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:24:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:24:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:24:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:24:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:24:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:24:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:24:59 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: 256]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120328m	[env.py: 870]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39782408 -0.91645674 -0.12032751] yaw=-67.0deg	[env.py: 1019]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.3ms, total=242.3ms	[env.py: 1075]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -0.916, -0.120)	[env.py: 1079]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/13 21:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/13 21:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:00 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.617s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:25:00 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:25:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125172m	[env.py: 870]
+05/13 21:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.0ms	[env.py: 1105]
+05/13 21:25:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:25:03 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195162m	[env.py: 870]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11587796 -1.39307276 -0.19516177] yaw=-43.9deg	[env.py: 1019]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57190058 -0.84533687 -0.19516177] yaw=-39.2deg	[env.py: 1019]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55661772 -0.92611493 -0.19516177] yaw=-66.1deg	[env.py: 1019]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.5ms	[env.py: 1075]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.393, -0.195)	[env.py: 1079]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 21:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:05 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.753[m] 93.174[deg]	[grasp_sample.py: 539]
+05/13 21:25:09 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:25:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172513m	[env.py: 870]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49765964 -0.95285239 -0.1725131 ] yaw=-63.8deg	[env.py: 1019]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55861832 -0.85264098 -0.1725131 ] yaw=-67.7deg	[env.py: 1019]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.7ms, total=269.8ms	[env.py: 1075]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.953, -0.173)	[env.py: 1079]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg	[env.py: 1082]
+05/13 21:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:11 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:12 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.644[m] 83.342[deg]	[grasp_sample.py: 539]
+05/13 21:25:13 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177733m	[env.py: 870]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69664076 -0.90196052 -0.1777329 ] yaw=-46.0deg	[env.py: 1019]
+05/13 21:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21219767 -0.92487232 -0.1777329 ] yaw=-27.1deg	[env.py: 1019]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24523042 -1.30933564 -0.1777329 ] yaw=-35.9deg	[env.py: 1019]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.5ms	[env.py: 1075]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.697, -0.902, -0.178)	[env.py: 1079]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg	[env.py: 1082]
+05/13 21:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 21:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:16 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.330s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.634[m] 84.337[deg]	[grasp_sample.py: 539]
+05/13 21:25:19 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:25:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:19 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.640[m] 88.370[deg]	[grasp_sample.py: 539]
+05/13 21:25:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:25:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:25:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:25:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104908m	[env.py: 870]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17458486 -1.35878155 -0.10490772] yaw=1.6deg	[env.py: 1019]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.76927811 -0.73782717 -0.10490772] yaw=-65.7deg	[env.py: 1019]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.7ms, total=231.7ms	[env.py: 1075]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.359, -0.105)	[env.py: 1079]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 1.6 deg	[env.py: 1082]
+05/13 21:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 21:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:21 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:24 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:24 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.702[m] 84.326[deg]	[grasp_sample.py: 539]
+05/13 21:25:25 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:25:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:25:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:25:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181294m	[env.py: 870]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32281169 -1.05212977 -0.18129441] yaw=-71.0deg	[env.py: 1019]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:25:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.4ms	[env.py: 1075]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.052, -0.181)	[env.py: 1079]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg	[env.py: 1082]
+05/13 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:25:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:25:27 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:25:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:25:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:25:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:25:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:25:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.175s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:25:28 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.680[m] 93.013[deg]	[grasp_sample.py: 539]
+05/13 21:25:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:25:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:25:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:25:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:25:45 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:12 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:26:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:26:12 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 21:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:26:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:26:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:26:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:26:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:26:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:26:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:26:24 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.113[m] 9.212[deg]	[grasp_sample.py: 539]
+05/13 21:26:25 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:26:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122785m	[env.py: 870]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47234142 -1.01550361 -0.12278481] yaw=-43.6deg	[env.py: 1019]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15219511 -1.35441697 -0.12278481] yaw=0.6deg	[env.py: 1019]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:26:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=319.6ms, total=319.7ms	[env.py: 1075]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -1.016, -0.123)	[env.py: 1079]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg	[env.py: 1082]
+05/13 21:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:26:28 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:26:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:26:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:26:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:26:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:26:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.24s (batch: 4.79s, save: 11.45s)	[pipeline.py: 300]
+05/13 21:26:29 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:26:29 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.25s:
+  episode_total: mean=48.64s, total=194.57s, count=4, min=223.0ms, max=171763.0ms
+  sensor_polling: mean=426.4ms, total=109.60s, count=257, min=378.2ms, max=869.7ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11445.0ms, max=11445.0ms
+  physics_step: mean=25.2ms, total=6.47s, count=257, min=21.4ms, max=63.1ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4793.9ms, max=4793.9ms
+  task_specific_sample: mean=442.1ms, total=1.77s, count=4, min=219.5ms, max=721.2ms
+  task_sampling: mean=624.3ms, total=1.25s, count=2, min=523.4ms, max=725.2ms
+  task_sampling_failed: mean=269.3ms, total=538.7ms, count=2, min=223.0ms, max=315.7ms
+  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=508.3us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, 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]
+05/13 21:26:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:26:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.661[m] 86.623[deg]	[grasp_sample.py: 539]
+05/13 21:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178982m	[env.py: 870]
+05/13 21:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77486841 -0.69965027 -0.17898182] yaw=-62.5deg	[env.py: 1019]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05006294 -1.37702563 -0.17898182] yaw=-9.9deg	[env.py: 1019]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:31 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02384055 -1.20502179 -0.17898182] yaw=-4.6deg	[env.py: 1019]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=730.8ms, total=730.9ms	[env.py: 1075]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.775, -0.700, -0.179)	[env.py: 1079]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg	[env.py: 1082]
+05/13 21:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 21:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:26:31 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:26:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:26:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:26:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:26:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125459m	[env.py: 870]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=262.1ms, total=262.1ms	[env.py: 1105]
+05/13 21:26:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:26:33 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:26:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.777s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:26:34 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:26:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107469m	[env.py: 870]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=417.1ms, total=417.2ms	[env.py: 1105]
+05/13 21:26:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:26:35 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154997m	[env.py: 870]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139626m	[env.py: 870]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.2ms, total=253.2ms	[env.py: 1105]
+05/13 21:26:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26294164 -1.0484365  -0.15499712] yaw=-43.9deg	[env.py: 1019]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32210814 -1.12298186 -0.15499712] yaw=-53.2deg	[env.py: 1019]
+05/13 21:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04254506 -1.30833725 -0.15499712] yaw=-46.0deg	[env.py: 1019]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=606.4ms, total=606.5ms	[env.py: 1075]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.048, -0.155)	[env.py: 1079]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:26:38 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:26:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:26:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:26:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:26:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:26:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:26:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:26:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:26:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:26:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:26:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:26:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169387m	[env.py: 870]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:26:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5588878  -1.00719392 -0.1693865 ] yaw=-85.9deg	[env.py: 1019]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50011148 -0.74695526 -0.1693865 ] yaw=-86.1deg	[env.py: 1019]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:26:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.3ms, total=228.4ms	[env.py: 1075]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -1.007, -0.169)	[env.py: 1079]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.9 deg	[env.py: 1082]
+05/13 21:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 21:26:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:26:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:26:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:26:41 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:26:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:26:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:26:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:26:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:26:42 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.245s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:26:42 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.637[m] 95.236[deg]	[grasp_sample.py: 539]
+05/13 21:26:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:26:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:26:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:26:45 INFO: [Worker 0] Feasibility-checked 242 grasps in 6.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:26:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.670[m] 75.483[deg]	[grasp_sample.py: 539]
+05/13 21:26:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:26:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:26:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:26:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:26:56 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:26:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:26:56 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 21:27:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:27:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:27:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.81s (batch: 4.50s, save: 10.31s)	[pipeline.py: 300]
+05/13 21:27:12 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=2.03s:
+  episode_total: mean=54.07s, total=270.35s, count=5, min=290.2ms, max=169820.4ms
+  sensor_polling: mean=421.9ms, total=173.82s, count=412, min=379.2ms, max=910.7ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10314.9ms, max=10314.9ms
+  physics_step: mean=23.6ms, total=9.73s, count=412, min=16.6ms, max=33.2ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.5ms, max=4497.5ms
+  task_specific_sample: mean=460.6ms, total=2.30s, count=5, min=282.5ms, max=553.6ms
+  task_sampling: mean=508.5ms, total=2.03s, count=4, min=485.3ms, max=556.5ms
+  task_sampling_failed: mean=290.2ms, total=290.2ms, count=1, min=290.2ms, max=290.2ms
+  scene_randomize: mean=1.9ms, total=9.7ms, count=5, min=1.2ms, max=3.2ms
+  mj_forward_sync: mean=453.4us, total=2.3ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:27:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:27:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:27:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:27:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:27:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:27:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:27:13 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: 256]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150451m	[env.py: 870]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:27:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14660206 -1.16832416 -0.15045089] yaw=-63.5deg	[env.py: 1019]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:27:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.5ms, total=255.5ms	[env.py: 1075]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -1.168, -0.150)	[env.py: 1079]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg	[env.py: 1082]
+05/13 21:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 21:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:27:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:27:14 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:27:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:27:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:27:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:27:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:27:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.887s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:27:17 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:27:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:27:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:27:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:27:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:27:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:27:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:27:19 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: 256]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142520m	[env.py: 870]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:27:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18434284 -1.12953849 -0.14252011] yaw=-32.8deg	[env.py: 1019]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24528869 -1.04720191 -0.14252011] yaw=-23.4deg	[env.py: 1019]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26832815 -1.13817909 -0.14252011] yaw=-34.6deg	[env.py: 1019]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:27:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.6ms, total=313.7ms	[env.py: 1075]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.130, -0.143)	[env.py: 1079]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/13 21:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:27:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:27:19 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:27:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:27:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:27:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:27:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:27:26 INFO: [Worker 0] Feasibility-checked 243 grasps in 6.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:27:26 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.660[m] 79.782[deg]	[grasp_sample.py: 539]
+05/13 21:27:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:27:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:27:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:27:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:27:31 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:27:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:27:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:27:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:27:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:27:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:27:56 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:27:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:27:56 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 21:27:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:28:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:28:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:28:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.58s (batch: 4.87s, save: 9.71s)	[pipeline.py: 300]
+05/13 21:28:12 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=3.04s:
+  episode_total: mean=27.10s, total=189.68s, count=7, min=219.1ms, max=165217.1ms
+  sensor_polling: mean=423.7ms, total=112.70s, count=266, min=380.8ms, max=894.8ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9705.5ms, max=9705.5ms
+  physics_step: mean=24.3ms, total=6.46s, count=266, min=17.1ms, max=39.0ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4870.0ms, max=4870.0ms
+  task_specific_sample: mean=461.2ms, total=3.23s, count=7, min=215.4ms, max=621.3ms
+  task_sampling: mean=505.9ms, total=3.04s, count=6, min=456.4ms, max=626.5ms
+  task_sampling_failed: mean=219.1ms, total=219.1ms, count=1, min=219.1ms, max=219.1ms
+  scene_randomize: mean=1.8ms, total=12.4ms, count=7, min=1.1ms, max=3.3ms
+  mj_forward_sync: mean=472.6us, total=3.3ms, count=7, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:28:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:28:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195989m	[env.py: 870]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01789948 -1.3703699  -0.19598933] yaw=-30.9deg	[env.py: 1019]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=226.9ms, total=227.0ms	[env.py: 1075]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -1.370, -0.196)	[env.py: 1079]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.9 deg	[env.py: 1082]
+05/13 21:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:28:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:28:14 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:28:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:28:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:28:17 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.579s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:28:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:28:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129616m	[env.py: 870]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.7964306  -0.82516721 -0.1296162 ] yaw=-99.4deg	[env.py: 1019]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44754402 -0.99017678 -0.1296162 ] yaw=-64.8deg	[env.py: 1019]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05990386 -1.27526084 -0.1296162 ] yaw=-7.2deg	[env.py: 1019]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.7ms, total=217.8ms	[env.py: 1075]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.796, -0.825, -0.130)	[env.py: 1079]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.4 deg	[env.py: 1082]
+05/13 21:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:28:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:28:19 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:28:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:28:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:28:22 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:28:22 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.699[m] 96.773[deg]	[grasp_sample.py: 539]
+05/13 21:28:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:28:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:28:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:28:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:28:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:28:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:28:40 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:46 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:28:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:28:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:28:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:28:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:28:56 INFO: [Worker 0] Feasibility-checked 248 grasps in 4.162s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:28:56 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.582[m] 75.147[deg]	[grasp_sample.py: 539]
+05/13 21:28:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:28:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:28:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:05 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:29:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 21:29:05 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 21:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:29:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:29:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:14 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:29:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:29:14 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 21:29:14 INFO: [Worker 0] Feasibility-checked 248 grasps in 4.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:14 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.582[m] 75.148[deg]	[grasp_sample.py: 539]
+05/13 21:29:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:29:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:29:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:29:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:29:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.36s (batch: 4.58s, save: 9.78s)	[pipeline.py: 300]
+05/13 21:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:20 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=1.69s:
+  episode_total: mean=54.73s, total=164.18s, count=3, min=265.6ms, max=159773.9ms
+  sensor_polling: mean=412.0ms, total=106.31s, count=258, min=379.4ms, max=854.7ms
+  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9775.5ms, max=9775.5ms
+  physics_step: mean=23.7ms, total=6.13s, count=258, min=16.6ms, max=31.5ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4582.2ms, max=4582.2ms
+  task_specific_sample: mean=647.2ms, total=1.94s, count=3, min=259.3ms, max=1080.7ms
+  task_sampling: mean=846.0ms, total=1.69s, count=2, min=606.7ms, max=1085.3ms
+  task_sampling_failed: mean=265.5ms, total=265.5ms, count=1, min=265.5ms, max=265.5ms
+  scene_randomize: mean=2.4ms, total=7.3ms, count=3, min=1.4ms, max=3.1ms
+  mj_forward_sync: mean=557.5us, total=1.7ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:22 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: 256]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142879m	[env.py: 870]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46363323 -0.83047686 -0.14287902] yaw=-46.0deg	[env.py: 1019]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56963148 -0.7657093  -0.14287902] yaw=-70.9deg	[env.py: 1019]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=477.5ms, total=477.6ms	[env.py: 1075]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.830, -0.143)	[env.py: 1079]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg	[env.py: 1082]
+05/13 21:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:22 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:29:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:29:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:28 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:29:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:29:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:29:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.80s (batch: 5.80s, save: 10.00s)	[pipeline.py: 300]
+05/13 21:29:30 INFO: [Worker 0] Feasibility-checked 243 grasps in 7.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:30 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.773[m] 80.982[deg]	[grasp_sample.py: 539]
+05/13 21:29:31 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=4.41s:
+  episode_total: mean=30.92s, total=278.28s, count=9, min=236.5ms, max=173957.6ms
+  sensor_polling: mean=421.8ms, total=161.54s, count=383, min=375.3ms, max=989.3ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9999.5ms, max=9999.5ms
+  physics_step: mean=24.6ms, total=9.41s, count=383, min=17.5ms, max=63.3ms
+  save_batch_prep: mean=5.80s, total=5.80s, count=1, min=5803.8ms, max=5803.8ms
+  task_specific_sample: mean=589.4ms, total=5.30s, count=9, min=220.1ms, max=1106.7ms
+  task_sampling: mean=735.2ms, total=4.41s, count=6, min=567.9ms, max=1110.5ms
+  task_sampling_failed: mean=316.3ms, total=949.0ms, count=3, min=236.4ms, max=434.2ms
+  scene_randomize: mean=1.8ms, total=16.0ms, count=9, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=452.4us, total=4.1ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:29:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.223s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.582[m] 75.148[deg]	[grasp_sample.py: 539]
+05/13 21:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:29:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:29:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:29:32 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:29:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:33 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: 256]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149864m	[env.py: 870]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57558729 -1.00606054 -0.14986431] yaw=-46.3deg	[env.py: 1019]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65826858 -0.94531045 -0.14986431] yaw=-93.0deg	[env.py: 1019]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15494477 -1.12095564 -0.14986431] yaw=-9.4deg	[env.py: 1019]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.9ms, total=243.0ms	[env.py: 1075]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -1.006, -0.150)	[env.py: 1079]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg	[env.py: 1082]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181374m	[env.py: 870]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:33 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21788305 -1.01714603 -0.18137426] yaw=-20.2deg	[env.py: 1019]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14157249 -1.1749752  -0.18137426] yaw=-42.3deg	[env.py: 1019]
+05/13 21:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24343681 -1.09076909 -0.18137426] yaw=-40.0deg	[env.py: 1019]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms	[env.py: 1075]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.017, -0.181)	[env.py: 1079]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.2 deg	[env.py: 1082]
+05/13 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/13 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.204s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:34 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.132s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 79.208[deg]	[grasp_sample.py: 539]
+05/13 21:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:29:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:29:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:41 INFO: [Worker 0] Feasibility-checked 234 grasps in 6.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:41 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 21:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:43 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: 256]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120000m	[env.py: 870]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00346201 -1.22983167 -0.12000023] yaw=-55.8deg	[env.py: 1019]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19861604 -1.37963051 -0.12000023] yaw=-12.0deg	[env.py: 1019]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=519.3ms, total=519.4ms	[env.py: 1075]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -1.230, -0.120)	[env.py: 1079]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg	[env.py: 1082]
+05/13 21:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:43 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:29:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:29:46 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 21:29:46 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 21:29:46 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=1.09s:
+  episode_total: mean=45.45s, total=90.90s, count=2, min=3486.5ms, max=87413.3ms
+  sensor_polling: mean=451.3ms, total=30.69s, count=68, min=391.6ms, max=892.1ms
+  physics_step: mean=22.1ms, total=1.50s, count=68, min=14.4ms, max=29.5ms
+  task_sampling: mean=545.5ms, total=1.09s, count=2, min=474.8ms, max=616.3ms
+  task_specific_sample: mean=541.6ms, total=1.08s, count=2, min=471.1ms, max=612.1ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=543.4us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.7us, 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]
+05/13 21:29:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.621s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:29:46 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:29:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191375m	[env.py: 870]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84799395 -0.84402464 -0.19137462] yaw=-102.7deg	[env.py: 1019]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=408.3ms, total=408.4ms	[env.py: 1075]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.844, -0.191)	[env.py: 1079]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.7 deg	[env.py: 1082]
+05/13 21:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:48 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173198m	[env.py: 870]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.235s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00385971 -1.29282875 -0.17319805] yaw=0.0deg	[env.py: 1019]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14526822 -1.19397929 -0.17319805] yaw=-52.4deg	[env.py: 1019]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=640.1ms, total=640.2ms	[env.py: 1075]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -1.293, -0.173)	[env.py: 1079]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.0 deg	[env.py: 1082]
+05/13 21:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:50 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:50 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.253s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:29:50 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.612[m] 91.953[deg]	[grasp_sample.py: 539]
+05/13 21:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:29:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:29:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:29:53 INFO: [Worker 0] Feasibility-checked 233 grasps in 2.660s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:29:53 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:29:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:29:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:29:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:29:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:29:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:29:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143600m	[env.py: 870]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:29:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.84017988 -0.64239496 -0.14359969] yaw=-70.9deg	[env.py: 1019]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:29:55 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:29:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:29:55 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.68519766 -0.69804988 -0.14359969] yaw=-92.6deg	[env.py: 1019]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.6ms, total=264.7ms	[env.py: 1075]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.642, -0.144)	[env.py: 1079]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg	[env.py: 1082]
+05/13 21:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:29:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:29:55 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:29:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:29:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:29:58 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.607s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:29:58 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:30:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125140m	[env.py: 870]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.83904867 -0.77221129 -0.12513968] yaw=-73.2deg	[env.py: 1019]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83848045 -0.80966101 -0.12513968] yaw=-81.6deg	[env.py: 1019]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52783523 -0.80768775 -0.12513968] yaw=-80.1deg	[env.py: 1019]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.4ms, total=305.4ms	[env.py: 1075]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.839, -0.772, -0.125)	[env.py: 1079]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg	[env.py: 1082]
+05/13 21:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:00 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:30:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:30:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.71s (batch: 4.62s, save: 10.10s)	[pipeline.py: 300]
+05/13 21:30:10 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.13s:
+  episode_total: mean=87.63s, total=175.26s, count=2, min=3702.7ms, max=171554.5ms
+  sensor_polling: mean=425.1ms, total=113.09s, count=266, min=390.8ms, max=801.7ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10098.2ms, max=10098.2ms
+  physics_step: mean=24.6ms, total=6.56s, count=266, min=17.6ms, max=33.7ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4615.8ms, max=4615.8ms
+  task_sampling: mean=565.9ms, total=1.13s, count=2, min=564.0ms, max=567.8ms
+  task_specific_sample: mean=561.1ms, total=1.12s, count=2, min=559.8ms, max=562.4ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=443.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:30:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:12 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.736[m] 98.658[deg]	[grasp_sample.py: 539]
+05/13 21:30:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100604m	[env.py: 870]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25382925 -1.01638359 -0.10060399] yaw=-32.8deg	[env.py: 1019]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36128069 -0.9447551  -0.10060399] yaw=-74.8deg	[env.py: 1019]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25986006 -1.21478112 -0.10060399] yaw=-44.1deg	[env.py: 1019]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.9ms, total=261.9ms	[env.py: 1075]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -1.016, -0.101)	[env.py: 1079]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/13 21:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:30:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:12 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:13 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:30:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195595m	[env.py: 870]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24542489 -0.93164697 -0.19559541] yaw=-46.6deg	[env.py: 1019]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55540875 -0.92611461 -0.19559541] yaw=-58.6deg	[env.py: 1019]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45180184 -0.91211306 -0.19559541] yaw=-64.3deg	[env.py: 1019]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=384.1ms, total=384.1ms	[env.py: 1075]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.932, -0.196)	[env.py: 1079]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/13 21:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:30:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:16 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:30:19 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.718s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:30:19 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:30:19 INFO: [Worker 0] Feasibility-checked 240 grasps in 6.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:19 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 21:30:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140284m	[env.py: 870]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.70265289 -0.96044694 -0.14028426] yaw=-73.1deg	[env.py: 1019]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=226.0ms	[env.py: 1075]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.703, -0.960, -0.140)	[env.py: 1079]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg	[env.py: 1082]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:21 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182064m	[env.py: 870]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.264s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18011226 -1.29895124 -0.18206404] yaw=-1.0deg	[env.py: 1019]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms	[env.py: 1075]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.299, -0.182)	[env.py: 1079]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -1.0 deg	[env.py: 1082]
+05/13 21:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:22 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:23 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.316s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.613[m] 95.147[deg]	[grasp_sample.py: 539]
+05/13 21:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:30:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:30:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:30:28 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:28 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.664[m] 92.260[deg]	[grasp_sample.py: 539]
+05/13 21:30:29 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:30:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188521m	[env.py: 870]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16134456 -1.15361345 -0.18852122] yaw=-56.2deg	[env.py: 1019]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1434416  -1.05079532 -0.18852122] yaw=-50.7deg	[env.py: 1019]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.71028235 -0.77396126 -0.18852122] yaw=-98.2deg	[env.py: 1019]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=238.9ms	[env.py: 1075]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -1.154, -0.189)	[env.py: 1079]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg	[env.py: 1082]
+05/13 21:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 21:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:31 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:30:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.722[m] 96.069[deg]	[grasp_sample.py: 539]
+05/13 21:30:35 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:30:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:30:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:30:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148405m	[env.py: 870]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56832399 -1.01202363 -0.14840503] yaw=-49.6deg	[env.py: 1019]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.3ms, total=273.4ms	[env.py: 1075]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -1.012, -0.148)	[env.py: 1079]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg	[env.py: 1082]
+05/13 21:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:30:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:30:37 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:30:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:30:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:30:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:30:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:30:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.615[m] 97.596[deg]	[grasp_sample.py: 539]
+05/13 21:30:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:30:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:30:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:30:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:30:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:30:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:31:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:31:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:31:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:31:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:31:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:31:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:31:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:31:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:31:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:31:39 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:31:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:31:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:32:05 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:32:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:32:05 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 21:32:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:32:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:32:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.53s (batch: 5.43s, save: 10.10s)	[pipeline.py: 300]
+05/13 21:32:21 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.56s:
+  episode_total: mean=168.42s, total=168.42s, count=1, min=168416.5ms, max=168416.5ms
+  sensor_polling: mean=447.3ms, total=112.28s, count=251, min=381.0ms, max=957.0ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10099.1ms, max=10099.1ms
+  physics_step: mean=26.7ms, total=6.69s, count=251, min=19.8ms, max=60.3ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5427.7ms, max=5427.7ms
+  task_sampling: mean=562.2ms, total=562.2ms, count=1, min=562.2ms, max=562.2ms
+  task_specific_sample: mean=558.0ms, total=558.0ms, count=1, min=558.0ms, max=558.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=439.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, 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]
+05/13 21:32:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:32:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:32:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:32:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:32:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:32:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:32:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180220m	[env.py: 870]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:32:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.82248279 -0.92077609 -0.18021968] yaw=-75.0deg	[env.py: 1019]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:32:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.2ms, total=351.3ms	[env.py: 1075]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.822, -0.921, -0.180)	[env.py: 1079]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg	[env.py: 1082]
+05/13 21:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:32:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:32:23 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:32:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:32:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:32:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:32:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:32:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.561[m] 87.621[deg]	[grasp_sample.py: 539]
+05/13 21:32:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:32:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:32:26 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:32:40 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:32:54 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:32:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:32:54 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 21:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:33:07 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:33:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:33:07 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 21:33:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:33:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:33:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.35s (batch: 4.64s, save: 9.71s)	[pipeline.py: 300]
+05/13 21:33:09 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=3.51s:
+  episode_total: mean=38.66s, total=193.30s, count=5, min=3441.1ms, max=168873.9ms
+  sensor_polling: mean=437.9ms, total=112.53s, count=257, min=387.9ms, max=907.0ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9709.1ms, max=9709.1ms
+  physics_step: mean=26.3ms, total=6.75s, count=257, min=21.6ms, max=45.4ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4639.6ms, max=4639.6ms
+  task_sampling: mean=701.9ms, total=3.51s, count=5, min=481.8ms, max=1123.7ms
+  task_specific_sample: mean=697.9ms, total=3.49s, count=5, min=478.5ms, max=1118.0ms
+  scene_randomize: mean=1.8ms, total=9.1ms, count=5, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=535.4us, total=2.7ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:33:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:33:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:33:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:33:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:33:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:33:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194654m	[env.py: 870]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:33:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.364187   -0.91253185 -0.19465405] yaw=-64.9deg	[env.py: 1019]
+05/13 21:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.83155559 -0.91395121 -0.19465405] yaw=-104.7deg	[env.py: 1019]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90020091 -0.78651061 -0.19465405] yaw=-101.0deg	[env.py: 1019]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.0ms, total=205.1ms	[env.py: 1075]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.913, -0.195)	[env.py: 1079]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 21:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 21:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:33:12 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:33:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:33:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:33:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:33:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:33:15 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:33:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.753[m] 95.239[deg]	[grasp_sample.py: 539]
+05/13 21:33:16 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:33:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:33:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:33:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165587m	[env.py: 870]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:33:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.69618243 -0.72882273 -0.16558705] yaw=-73.4deg	[env.py: 1019]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:33:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.3ms, total=280.3ms	[env.py: 1075]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.696, -0.729, -0.166)	[env.py: 1079]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg	[env.py: 1082]
+05/13 21:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:33:18 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:33:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:33:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:33:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:33:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:33:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:33:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:33:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.64s (batch: 5.65s, save: 9.98s)	[pipeline.py: 300]
+05/13 21:33:23 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=2.17s:
+  episode_total: mean=46.66s, total=186.65s, count=4, min=4768.0ms, max=166292.1ms
+  sensor_polling: mean=419.4ms, total=109.46s, count=261, min=383.9ms, max=851.8ms
+  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9983.3ms, max=9983.3ms
+  physics_step: mean=23.4ms, total=6.12s, count=261, min=16.9ms, max=33.0ms
+  save_batch_prep: mean=5.65s, total=5.65s, count=1, min=5654.4ms, max=5654.4ms
+  task_sampling: mean=542.0ms, total=2.17s, count=4, min=524.3ms, max=574.1ms
+  task_specific_sample: mean=538.2ms, total=2.15s, count=4, min=521.3ms, max=570.3ms
+  scene_randomize: mean=1.9ms, total=7.4ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=442.9us, total=1.8ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:33:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:33:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:33:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:33:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:33:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:33:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168890m	[env.py: 870]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:33:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67079555 -0.90015999 -0.16889022] yaw=-97.4deg	[env.py: 1019]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.7234003  -0.73139325 -0.16889022] yaw=-67.5deg	[env.py: 1019]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:33:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.1ms, total=308.1ms	[env.py: 1075]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.671, -0.900, -0.169)	[env.py: 1079]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.4 deg	[env.py: 1082]
+05/13 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:33:25 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:33:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:33:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:33:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:33:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:33:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:33:26 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.729[m] 94.352[deg]	[grasp_sample.py: 539]
+05/13 21:33:27 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:33:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:33:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:33:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:33:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:33:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:33:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:33:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113780m	[env.py: 870]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:33:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46897902 -0.8739841  -0.1137805 ] yaw=-77.0deg	[env.py: 1019]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.8ms, total=228.8ms	[env.py: 1075]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.874, -0.114)	[env.py: 1079]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.0 deg	[env.py: 1082]
+05/13 21:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:33:30 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:33:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:33:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:33:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:33:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:33:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:33:37 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.661[m] 97.402[deg]	[grasp_sample.py: 539]
+05/13 21:33:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:33:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:33:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:33:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:33:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:33:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:33:56 INFO: [Worker 0] Feasibility-checked 243 grasps in 25.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:33:56 INFO: [Worker 0] Feasible grasp found 269 (originally 269): w/ 0.750[m] 103.903[deg]	[grasp_sample.py: 539]
+05/13 21:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:33:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:33:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:33:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:33:59 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: 256]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179736m	[env.py: 870]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=264.1ms, total=264.1ms	[env.py: 1105]
+05/13 21:33:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:33:59 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:34:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176710m	[env.py: 870]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38520776 -1.15928729 -0.17671024] yaw=-18.4deg	[env.py: 1019]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:34:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.9ms, total=231.0ms	[env.py: 1075]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -1.159, -0.177)	[env.py: 1079]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.4 deg	[env.py: 1082]
+05/13 21:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 21:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:34:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:34:01 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:34:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:34:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:34:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:34:02 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.630[m] 84.862[deg]	[grasp_sample.py: 539]
+05/13 21:34:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:34:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:34:32 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:34:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:34:54 INFO: [Worker 0] Feasibility-checked 244 grasps in 220.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:34:54 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 21:34:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:34:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:34:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:34:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:34:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:34:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:34:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185788m	[env.py: 870]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:34:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.87157872 -0.90454052 -0.18578756] yaw=-72.7deg	[env.py: 1019]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73645143 -0.72819354 -0.18578756] yaw=-78.0deg	[env.py: 1019]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:34:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=391.6ms, total=391.7ms	[env.py: 1075]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.872, -0.905, -0.186)	[env.py: 1079]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg	[env.py: 1082]
+05/13 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:34:57 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:34:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:34:57 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 21:34:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:34:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:34:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:34:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:34:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:34:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:34:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:34:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.600[m] 94.128[deg]	[grasp_sample.py: 539]
+05/13 21:34:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:34:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:34:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:34:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:35:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:35:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:35:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:35:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.16s (batch: 4.47s, save: 8.69s)	[pipeline.py: 300]
+05/13 21:35:11 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.68s:
+  episode_total: mean=167.71s, total=167.71s, count=1, min=167708.8ms, max=167708.8ms
+  sensor_polling: mean=436.5ms, total=108.26s, count=248, min=382.5ms, max=988.2ms
+  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8692.6ms, max=8692.6ms
+  physics_step: mean=25.3ms, total=6.28s, count=248, min=17.0ms, max=63.2ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4468.6ms, max=4468.6ms
+  task_sampling: mean=676.8ms, total=676.8ms, count=1, min=676.8ms, max=676.8ms
+  task_specific_sample: mean=672.6ms, total=672.6ms, count=1, min=672.6ms, max=672.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=473.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=41.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:35:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:35:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:35:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155809m	[env.py: 870]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0340808  -1.35519969 -0.15580909] yaw=-6.7deg	[env.py: 1019]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:35:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=403.5ms, total=403.6ms	[env.py: 1075]
+05/13 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.034, -1.355, -0.156)	[env.py: 1079]
+05/13 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.7 deg	[env.py: 1082]
+05/13 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/13 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:35:13 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:35:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:35:16 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.710s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:35:16 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:35:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:35:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:35:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:35:17 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: 256]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143022m	[env.py: 870]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20590158 -1.28777735 -0.1430218 ] yaw=-49.5deg	[env.py: 1019]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=643.2ms, total=643.2ms	[env.py: 1075]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.288, -0.143)	[env.py: 1079]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg	[env.py: 1082]
+05/13 21:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 21:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:35:18 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:35:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:35:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:35:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.675[m] 87.247[deg]	[grasp_sample.py: 539]
+05/13 21:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:35:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:35:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:35:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184260m	[env.py: 870]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4581503  -1.07163358 -0.18425979] yaw=-27.4deg	[env.py: 1019]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07083424 -1.22000097 -0.18425979] yaw=-24.9deg	[env.py: 1019]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.6ms, total=255.7ms	[env.py: 1075]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -1.072, -0.184)	[env.py: 1079]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg	[env.py: 1082]
+05/13 21:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:35:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:35:31 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:35:31 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.432[m] 61.315[deg]	[grasp_sample.py: 539]
+05/13 21:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:35:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:35:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:35:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:35:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.648[m] 88.186[deg]	[grasp_sample.py: 539]
+05/13 21:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:35:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:35:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:36 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:35:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:35:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:35:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:35:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.432[m] 61.317[deg]	[grasp_sample.py: 539]
+05/13 21:35:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:35:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:35:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:35:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:35:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:35:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:35:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:35:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.290s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:36:01 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.432[m] 61.317[deg]	[grasp_sample.py: 539]
+05/13 21:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:36:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:36:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:36:01 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:36:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:36:01 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 21:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:05 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:36:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 21:36:15 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 21:36:15 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=3.56s:
+  episode_total: mean=81.40s, total=406.99s, count=5, min=3788.5ms, max=306517.3ms
+  sensor_polling: mean=445.0ms, total=88.55s, count=199, min=382.7ms, max=887.5ms
+  physics_step: mean=22.7ms, total=4.52s, count=199, min=14.4ms, max=34.6ms
+  task_sampling: mean=711.1ms, total=3.56s, count=5, min=445.1ms, max=888.1ms
+  task_specific_sample: mean=706.9ms, total=3.53s, count=5, min=439.7ms, max=884.0ms
+  scene_randomize: mean=2.1ms, total=10.7ms, count=5, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=495.4us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.3us, 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]
+05/13 21:36:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:36:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:36:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.41s (batch: 4.61s, save: 9.79s)	[pipeline.py: 300]
+05/13 21:36:17 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.64s:
+  episode_total: mean=171.86s, total=171.86s, count=1, min=171862.3ms, max=171862.3ms
+  sensor_polling: mean=415.7ms, total=108.91s, count=262, min=387.2ms, max=818.4ms
+  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9790.9ms, max=9790.9ms
+  physics_step: mean=23.8ms, total=6.22s, count=262, min=17.5ms, max=35.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4614.8ms, max=4614.8ms
+  task_sampling: mean=636.1ms, total=636.1ms, count=1, min=636.1ms, max=636.1ms
+  task_specific_sample: mean=632.0ms, total=632.0ms, count=1, min=632.0ms, max=632.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.5us, 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]
+05/13 21:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111042m	[env.py: 870]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.8751263  -0.67279939 -0.11104212] yaw=-99.0deg	[env.py: 1019]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=323.7ms, total=323.7ms	[env.py: 1075]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.875, -0.673, -0.111)	[env.py: 1079]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.0 deg	[env.py: 1082]
+05/13 21:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:17 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:18 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: 256]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119842m	[env.py: 870]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24050777 -0.93359098 -0.11984205] yaw=-59.3deg	[env.py: 1019]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18992409 -1.39415558 -0.11984205] yaw=-5.8deg	[env.py: 1019]
+05/13 21:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.82904015 -0.80796648 -0.11984205] yaw=-84.8deg	[env.py: 1019]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms	[env.py: 1075]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -0.934, -0.120)	[env.py: 1079]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/13 21:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 21:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:19 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.617s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:20 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.598s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:22 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188704m	[env.py: 870]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00526484 -1.24412872 -0.18870388] yaw=-46.9deg	[env.py: 1019]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58792408 -0.70713523 -0.18870388] yaw=-84.9deg	[env.py: 1019]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=329.1ms, total=329.1ms	[env.py: 1075]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.005, -1.244, -0.189)	[env.py: 1079]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg	[env.py: 1082]
+05/13 21:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:23 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195830m	[env.py: 870]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54428053 -0.90992239 -0.19583014] yaw=-61.3deg	[env.py: 1019]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34274247 -0.92664957 -0.19583014] yaw=-29.0deg	[env.py: 1019]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16113412 -1.02241043 -0.19583014] yaw=-17.6deg	[env.py: 1019]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.0ms, total=228.1ms	[env.py: 1075]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.910, -0.196)	[env.py: 1079]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/13 21:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:24 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:36:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.653[m] 98.237[deg]	[grasp_sample.py: 539]
+05/13 21:36:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:36:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:25 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:36:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:36:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122373m	[env.py: 870]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47597596 -0.93000112 -0.12237347] yaw=-38.5deg	[env.py: 1019]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66117021 -0.91871262 -0.12237347] yaw=-74.2deg	[env.py: 1019]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.03754676 -1.20512676 -0.12237347] yaw=-43.3deg	[env.py: 1019]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.6ms, total=298.7ms	[env.py: 1075]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.930, -0.122)	[env.py: 1079]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg	[env.py: 1082]
+05/13 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:27 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:36:31 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.719[m] 90.813[deg]	[grasp_sample.py: 539]
+05/13 21:36:31 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:36:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:36:31 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 21:36:32 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162164m	[env.py: 870]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.74019434 -0.70043542 -0.16216446] yaw=-74.5deg	[env.py: 1019]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43018018 -0.80848088 -0.16216446] yaw=-87.0deg	[env.py: 1019]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42552812 -1.12516502 -0.16216446] yaw=-50.8deg	[env.py: 1019]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.2ms, total=286.3ms	[env.py: 1075]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.740, -0.700, -0.162)	[env.py: 1079]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg	[env.py: 1082]
+05/13 21:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:34 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.694s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182973m	[env.py: 870]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19991822 -1.26095838 -0.18297291] yaw=-52.7deg	[env.py: 1019]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18607449 -1.16322387 -0.18297291] yaw=-55.0deg	[env.py: 1019]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0268498  -1.28973125 -0.18297291] yaw=-46.8deg	[env.py: 1019]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=271.7ms, total=271.7ms	[env.py: 1075]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.261, -0.183)	[env.py: 1079]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg	[env.py: 1082]
+05/13 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:39 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:36:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:36:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 17.15s (batch: 5.53s, save: 11.63s)	[pipeline.py: 300]
+05/13 21:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:49 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.07s:
+  episode_total: mean=42.13s, total=210.67s, count=5, min=275.7ms, max=168499.9ms
+  sensor_polling: mean=428.7ms, total=113.18s, count=264, min=387.5ms, max=963.1ms
+  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11626.9ms, max=11626.9ms
+  physics_step: mean=24.9ms, total=6.57s, count=264, min=16.5ms, max=101.8ms
+  save_batch_prep: mean=5.53s, total=5.53s, count=1, min=5526.9ms, max=5526.9ms
+  task_specific_sample: mean=465.7ms, total=2.33s, count=5, min=270.1ms, max=554.9ms
+  task_sampling: mean=518.0ms, total=2.07s, count=4, min=473.7ms, max=559.6ms
+  task_sampling_failed: mean=275.7ms, total=275.7ms, count=1, min=275.7ms, max=275.7ms
+  scene_randomize: mean=1.9ms, total=9.3ms, count=5, min=1.0ms, max=3.2ms
+  mj_forward_sync: mean=438.6us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:36:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:36:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.638[m] 95.544[deg]	[grasp_sample.py: 539]
+05/13 21:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113151m	[env.py: 870]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6862003  -0.70895813 -0.11315066] yaw=-64.1deg	[env.py: 1019]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28020059 -0.92431473 -0.11315066] yaw=-43.9deg	[env.py: 1019]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.0ms, total=364.0ms	[env.py: 1075]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.686, -0.709, -0.113)	[env.py: 1079]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg	[env.py: 1082]
+05/13 21:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:51 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114208m	[env.py: 870]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13353281 -1.03291545 -0.11420782] yaw=-62.5deg	[env.py: 1019]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46985849 -0.9811826  -0.11420782] yaw=-62.8deg	[env.py: 1019]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.2ms	[env.py: 1075]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.134, -1.033, -0.114)	[env.py: 1079]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg	[env.py: 1082]
+05/13 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:54 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.708s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:36:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105592m	[env.py: 870]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30710226 -1.19907128 -0.10559244] yaw=-58.0deg	[env.py: 1019]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62432817 -0.92293335 -0.10559244] yaw=-90.1deg	[env.py: 1019]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.76689499 -0.72598205 -0.10559244] yaw=-74.2deg	[env.py: 1019]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:36:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.2ms, total=122.3ms	[env.py: 1075]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -1.199, -0.106)	[env.py: 1079]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/13 21:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:36:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:36:57 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:36:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:36:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:36:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.700s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:36:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:36:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.628[m] 98.504[deg]	[grasp_sample.py: 539]
+05/13 21:36:59 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:36:59 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:36:59 INFO: [Worker 0] Worker 0 completed house 1: 15/17 successful episodes	[pipeline.py: 1323]
+05/13 21:36:59 INFO: [Worker 0] [PROFILE] House 1 complete: 15/17 successful, 17 episodes, total_time=5882.87s
+  House averages:
+  episode_total: mean=48.97s, total=3525.97s, count=72, min=185.6ms, max=306517.3ms
+  sensor_polling: mean=422.8ms, total=1928.16s, count=4560, min=371.9ms, max=887.5ms
+  save_trajectories: mean=10.32s, total=154.84s, count=15, min=9230.7ms, max=12031.9ms
+  physics_step: mean=24.2ms, total=110.13s, count=4560, min=14.4ms, max=97.1ms
+  save_batch_prep: mean=4.72s, total=70.83s, count=15, min=4073.2ms, max=5992.8ms
+  task_sampling: mean=667.1ms, total=41.36s, count=62, min=378.2ms, max=3739.7ms
+  task_specific_sample: mean=569.2ms, total=40.98s, count=72, min=181.3ms, max=1080.7ms
+  scene_load: mean=3.14s, total=3.14s, count=1, min=3140.6ms, max=3140.6ms
+  task_sampling_failed: mean=306.5ms, total=3.07s, count=10, min=185.6ms, max=610.3ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1937.1ms, max=1937.1ms
+  scene_compile: mean=976.9ms, total=976.9ms, count=1, min=976.9ms, max=976.9ms
+  compile_mujoco: mean=628.6ms, total=628.6ms, count=1, min=628.6ms, max=628.6ms
+  compile_xml_load: mean=264.4ms, total=264.4ms, count=1, min=264.4ms, max=264.4ms
+  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_randomize: mean=1.9ms, total=137.2ms, count=72, min=1.0ms, max=6.5ms
+  scene_asset_install: mean=66.8ms, total=66.8ms, count=1, min=66.8ms, max=66.8ms
+  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=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
+  mj_forward_sync: mean=464.2us, total=33.4ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=20.2us, total=1.3ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 21:36:59 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 21:36:59 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=5882.87s
+  Worker averages:
+  episode_total: mean=48.97s, total=3525.97s, count=72, min=185.6ms, max=306517.3ms
+  sensor_polling: mean=422.8ms, total=1928.16s, count=4560, min=371.9ms, max=887.5ms
+  save_trajectories: mean=10.32s, total=154.84s, count=15, min=9230.7ms, max=12031.9ms
+  physics_step: mean=24.2ms, total=110.13s, count=4560, min=14.4ms, max=97.1ms
+  save_batch_prep: mean=4.72s, total=70.83s, count=15, min=4073.2ms, max=5992.8ms
+  task_sampling: mean=667.1ms, total=41.36s, count=62, min=378.2ms, max=3739.7ms
+  task_specific_sample: mean=569.2ms, total=40.98s, count=72, min=181.3ms, max=1080.7ms
+  scene_load: mean=3.14s, total=3.14s, count=1, min=3140.6ms, max=3140.6ms
+  task_sampling_failed: mean=306.5ms, total=3.07s, count=10, min=185.6ms, max=610.3ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1937.1ms, max=1937.1ms
+  scene_compile: mean=976.9ms, total=976.9ms, count=1, min=976.9ms, max=976.9ms
+  compile_mujoco: mean=628.6ms, total=628.6ms, count=1, min=628.6ms, max=628.6ms
+  compile_xml_load: mean=264.4ms, total=264.4ms, count=1, min=264.4ms, max=264.4ms
+  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_randomize: mean=1.9ms, total=137.2ms, count=72, min=1.0ms, max=6.5ms
+  scene_asset_install: mean=66.8ms, total=66.8ms, count=1, min=66.8ms, max=66.8ms
+  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=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
+  mj_forward_sync: mean=464.2us, total=33.4ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=20.2us, total=1.3ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 21:36:59 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103814m	[env.py: 870]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21955798 -1.3750826  -0.10381405] yaw=-25.2deg	[env.py: 1019]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:37:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms	[env.py: 1075]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.375, -0.104)	[env.py: 1079]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.2 deg	[env.py: 1082]
+05/13 21:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:37:01 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:37:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:37:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:37:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:37:02 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 21:37:02 INFO: Success count: 15, Total count: 17	[pipeline.py: 1491]
+05/13 21:37:02 INFO: Success rate: 88.24%	[pipeline.py: 1492]
+05/13 21:37:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:37:07 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:37:07 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.610[m] 89.728[deg]	[grasp_sample.py: 539]
+05/13 21:37:08 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:37:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102843m	[env.py: 870]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58378429 -0.93228604 -0.10284283] yaw=-59.2deg	[env.py: 1019]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37249649 -1.08420562 -0.10284283] yaw=-62.4deg	[env.py: 1019]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.69848535 -0.73700119 -0.10284283] yaw=-98.6deg	[env.py: 1019]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.2ms, total=125.2ms	[env.py: 1075]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.932, -0.103)	[env.py: 1079]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg	[env.py: 1082]
+05/13 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:37:10 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:37:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:37:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:37:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:37:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:37:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 12.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:37:23 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.642[m] 90.884[deg]	[grasp_sample.py: 539]
+05/13 21:37:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:37:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:37:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:37:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:37:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:37:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:37:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:37:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:37:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:37:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:37:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.229s, found 39 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:37:41 INFO: [Worker 0] Feasibility-checked 39 grasps in 1.020s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:37:41 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.033[m] 5.583[deg]	[grasp_sample.py: 539]
+05/13 21:37:42 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:37:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192071m	[env.py: 870]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02103382 -1.19638777 -0.19207136] yaw=-21.2deg	[env.py: 1019]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66171476 -0.76032545 -0.19207136] yaw=-99.9deg	[env.py: 1019]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=209.0ms, total=209.0ms	[env.py: 1075]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -1.196, -0.192)	[env.py: 1079]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.2 deg	[env.py: 1082]
+05/13 21:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 21:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:37:44 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:37:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:37:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:37:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:37:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:37:47 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.785s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:37:47 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:37:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124465m	[env.py: 870]
+05/13 21:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15061893 -1.25665064 -0.12446544] yaw=-31.5deg	[env.py: 1019]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.86842968 -0.69321162 -0.12446544] yaw=-59.9deg	[env.py: 1019]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.4ms, total=244.4ms	[env.py: 1075]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.257, -0.124)	[env.py: 1079]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.5 deg	[env.py: 1082]
+05/13 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:37:50 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:37:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:37:53 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:37:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.699[m] 86.078[deg]	[grasp_sample.py: 539]
+05/13 21:37:54 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:37:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:57 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: 256]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111729m	[env.py: 870]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.2ms, total=255.2ms	[env.py: 1105]
+05/13 21:37:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:37:57 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:37:57 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:37:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:37:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:37:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:37:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:37:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:37:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:37:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107558m	[env.py: 870]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:37:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.72458446 -0.71073525 -0.10755751] yaw=-61.9deg	[env.py: 1019]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=284.3ms, total=284.4ms	[env.py: 1075]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.725, -0.711, -0.108)	[env.py: 1079]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg	[env.py: 1082]
+05/13 21:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:38:00 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:38:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:38:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.635s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:38:03 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:38:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:38:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:38:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:38:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:38:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:38:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:38:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145134m	[env.py: 870]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:38:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.68350185 -0.81234801 -0.14513416] yaw=-91.7deg	[env.py: 1019]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56566131 -0.96293276 -0.14513416] yaw=-88.1deg	[env.py: 1019]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:38:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=268.9ms, total=269.0ms	[env.py: 1075]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.684, -0.812, -0.145)	[env.py: 1079]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.7 deg	[env.py: 1082]
+05/13 21:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 21:38:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:38:05 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:38:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:38:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:11 INFO: [Worker 0] Feasibility-checked 248 grasps in 6.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:38:11 INFO: [Worker 0] Feasible grasp found 327 (originally 20): w/ 0.733[m] 107.111[deg]	[grasp_sample.py: 539]
+05/13 21:38:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:38:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:38:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:38:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:38:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:38:22 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:38:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:38:22 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 21:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:38:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:38:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.88s (batch: 4.12s, save: 9.77s)	[pipeline.py: 300]
+05/13 21:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:37 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=2.20s:
+  episode_total: mean=67.22s, total=201.65s, count=3, min=3691.7ms, max=186269.1ms
+  sensor_polling: mean=428.6ms, total=114.87s, count=268, min=371.8ms, max=1037.6ms
+  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9765.0ms, max=9765.0ms
+  physics_step: mean=24.7ms, total=6.62s, count=268, min=17.5ms, max=37.0ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.3ms, max=4119.3ms
+  task_sampling: mean=733.5ms, total=2.20s, count=3, min=529.5ms, max=940.1ms
+  task_specific_sample: mean=729.6ms, total=2.19s, count=3, min=525.6ms, max=936.7ms
+  scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=495.6us, total=1.5ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:38:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:38:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:38:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:38:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134162m	[env.py: 870]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40863786 -0.86956671 -0.13416197] yaw=-49.1deg	[env.py: 1019]
+05/13 21:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=270.4ms, total=270.5ms	[env.py: 1075]
+05/13 21:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.870, -0.134)	[env.py: 1079]
+05/13 21:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg	[env.py: 1082]
+05/13 21:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:38:39 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:38:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 21:38:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:38:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:38:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.750[m] 84.505[deg]	[grasp_sample.py: 539]
+05/13 21:38:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:38:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:38:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:38:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:38:43 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.059s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:38:43 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.611[m] 75.735[deg]	[grasp_sample.py: 539]
+05/13 21:38:45 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:38:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:38:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:38:46 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: 256]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117552m	[env.py: 870]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1268707  -1.41846142 -0.11755173] yaw=-44.1deg	[env.py: 1019]
+05/13 21:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56093406 -0.73928553 -0.11755173] yaw=-84.8deg	[env.py: 1019]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1765733  -1.28833195 -0.11755173] yaw=-41.3deg	[env.py: 1019]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.6ms, total=264.7ms	[env.py: 1075]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -1.418, -0.118)	[env.py: 1079]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/13 21:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 21:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:38:47 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:38:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:38:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:50 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:38:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.703[m] 75.060[deg]	[grasp_sample.py: 539]
+05/13 21:38:52 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:38:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:38:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:38:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:38:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:38:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:38:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180616m	[env.py: 870]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:38:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3523311  -1.01638844 -0.18061644] yaw=-46.1deg	[env.py: 1019]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=346.8ms, total=346.9ms	[env.py: 1075]
+05/13 21:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.016, -0.181)	[env.py: 1079]
+05/13 21:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/13 21:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 21:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:38:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:38:54 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:38:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:38:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:38:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:38:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:38:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:38:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.651[m] 83.585[deg]	[grasp_sample.py: 539]
+05/13 21:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:38:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:38:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:39:24 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:39:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:39:49 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:39:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:39:49 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 21:39:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:39:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:39:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:40:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:40:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:40:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.09s (batch: 4.69s, save: 9.40s)	[pipeline.py: 300]
+05/13 21:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:04 INFO: [Worker 0] Object is not in grasp! 0.00126 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:40:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:40:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:40:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:40:04 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.98s:
+  episode_total: mean=47.05s, total=188.20s, count=4, min=2894.4ms, max=174440.7ms
+  sensor_polling: mean=408.6ms, total=108.27s, count=265, min=367.5ms, max=894.8ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9398.8ms, max=9398.8ms
+  physics_step: mean=23.7ms, total=6.28s, count=265, min=17.1ms, max=62.2ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4693.6ms, max=4693.6ms
+  task_sampling: mean=494.1ms, total=1.98s, count=4, min=375.5ms, max=696.3ms
+  task_specific_sample: mean=490.3ms, total=1.96s, count=4, min=371.8ms, max=692.2ms
+  scene_randomize: mean=2.0ms, total=7.9ms, count=4, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=440.6us, total=1.8ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 98 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:40:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:40:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:40:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:40:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119435m	[env.py: 870]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62126159 -0.71612053 -0.11943499] yaw=-68.8deg	[env.py: 1019]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.80370764 -0.75041891 -0.11943499] yaw=-95.2deg	[env.py: 1019]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10559032 -1.09483554 -0.11943499] yaw=-59.3deg	[env.py: 1019]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.0ms, total=121.0ms	[env.py: 1075]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.716, -0.119)	[env.py: 1079]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg	[env.py: 1082]
+05/13 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:40:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:40:07 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:40:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:40:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:40:07 INFO: [Worker 0] Feasibility-checked 98 grasps in 2.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:40:07 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.045[m] 3.095[deg]	[grasp_sample.py: 539]
+05/13 21:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:40:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:40:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.711s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:40:10 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:40:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:40:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:40:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101242m	[env.py: 870]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2512223  -1.31397299 -0.10124199] yaw=-54.9deg	[env.py: 1019]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15286566 -1.28454049 -0.10124199] yaw=-21.8deg	[env.py: 1019]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62031726 -0.68350903 -0.10124199] yaw=-70.9deg	[env.py: 1019]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:40:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.3ms, total=105.3ms	[env.py: 1075]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.314, -0.101)	[env.py: 1079]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg	[env.py: 1082]
+05/13 21:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:40:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:40:12 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:40:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:40:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:40:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:40:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:40:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:40:13 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.648[m] 83.939[deg]	[grasp_sample.py: 539]
+05/13 21:40:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:40:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:40:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:40:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:40:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:40:56 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:40:57 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:41:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:41:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:41:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:41:23 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:41:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 21:41:23 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 21:41:24 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:41:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:41:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 21:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:41:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:41:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.98s (batch: 4.39s, save: 9.59s)	[pipeline.py: 300]
+05/13 21:41:38 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=4.39s:
+  episode_total: mean=33.79s, total=304.11s, count=9, min=266.3ms, max=164327.8ms
+  sensor_polling: mean=415.6ms, total=192.00s, count=462, min=370.3ms, max=831.7ms
+  physics_step: mean=23.8ms, total=11.00s, count=462, min=16.6ms, max=31.4ms
+  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9593.2ms, max=9593.2ms
+  task_specific_sample: mean=513.5ms, total=4.62s, count=9, min=261.4ms, max=617.4ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.4ms, max=4391.4ms
+  task_sampling: mean=548.8ms, total=4.39s, count=8, min=421.4ms, max=622.7ms
+  task_sampling_failed: mean=266.2ms, total=266.2ms, count=1, min=266.2ms, max=266.2ms
+  scene_randomize: mean=1.6ms, total=14.7ms, count=9, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=453.3us, total=4.1ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.2ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:41:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:41:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:41:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.15s (batch: 4.50s, save: 10.65s)	[pipeline.py: 300]
+05/13 21:41:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165116m	[env.py: 870]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6836571  -0.73204367 -0.16511619] yaw=-75.4deg	[env.py: 1019]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59940041 -0.97005335 -0.16511619] yaw=-55.3deg	[env.py: 1019]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.0ms, total=271.0ms	[env.py: 1075]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.684, -0.732, -0.165)	[env.py: 1079]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.4 deg	[env.py: 1082]
+05/13 21:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:39 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.63s:
+  episode_total: mean=181.23s, total=181.23s, count=1, min=181233.2ms, max=181233.2ms
+  sensor_polling: mean=405.9ms, total=121.76s, count=300, min=377.8ms, max=980.7ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10652.1ms, max=10652.1ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=16.5ms, max=36.3ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4499.7ms, max=4499.7ms
+  task_sampling: mean=631.9ms, total=631.9ms, count=1, min=631.9ms, max=631.9ms
+  task_specific_sample: mean=628.0ms, total=628.0ms, count=1, min=628.0ms, max=628.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, 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]
+05/13 21:41:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:40 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:41 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: 256]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127006m	[env.py: 870]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56498625 -0.75800709 -0.1270062 ] yaw=-65.2deg	[env.py: 1019]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77627093 -0.68369009 -0.1270062 ] yaw=-64.4deg	[env.py: 1019]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07283668 -1.22243498 -0.1270062 ] yaw=-20.9deg	[env.py: 1019]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.6ms, total=122.7ms	[env.py: 1075]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.758, -0.127)	[env.py: 1079]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg	[env.py: 1082]
+05/13 21:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:41 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:41:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.728s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:41:44 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:41:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115193m	[env.py: 870]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40389317 -0.89625351 -0.11519256] yaw=-30.1deg	[env.py: 1019]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.1ms, total=221.1ms	[env.py: 1075]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.896, -0.115)	[env.py: 1079]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:46 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:41:49 INFO: [Worker 0] Feasibility-checked 243 grasps in 9.292s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:41:49 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.747[m] 93.018[deg]	[grasp_sample.py: 539]
+05/13 21:41:50 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:41:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133217m	[env.py: 870]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53017965 -0.71461528 -0.13321735] yaw=-90.5deg	[env.py: 1019]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41185733 -1.06455148 -0.13321735] yaw=-46.2deg	[env.py: 1019]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.4ms, total=254.4ms	[env.py: 1075]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.715, -0.133)	[env.py: 1079]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.5 deg	[env.py: 1082]
+05/13 21:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:52 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:41:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:41:54 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.821[m] 83.406[deg]	[grasp_sample.py: 539]
+05/13 21:41:55 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:41:55 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.780s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:41:55 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:41:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171837m	[env.py: 870]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30353629 -1.14373867 -0.17183715] yaw=-41.9deg	[env.py: 1019]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19471907 -1.28698575 -0.17183715] yaw=-32.6deg	[env.py: 1019]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:41:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06892068 -1.27342262 -0.17183715] yaw=-52.5deg	[env.py: 1019]
+05/13 21:41:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:41:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.6ms	[env.py: 1075]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.144, -0.172)	[env.py: 1079]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg	[env.py: 1082]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 21:41:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:41:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:41:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:41:57 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: 256]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118325m	[env.py: 870]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:41:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57360035 -0.88009808 -0.11832461] yaw=-84.4deg	[env.py: 1019]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2527369  -0.96060713 -0.11832461] yaw=-25.5deg	[env.py: 1019]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:41:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:57 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=332.6ms, total=332.6ms	[env.py: 1075]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.880, -0.118)	[env.py: 1079]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.4 deg	[env.py: 1082]
+05/13 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:41:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:41:58 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:41:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:41:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:41:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:41:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:42:00 INFO: [Worker 0] Feasibility-checked 247 grasps in 2.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:42:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.715[m] 94.043[deg]	[grasp_sample.py: 539]
+05/13 21:42:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:42:01 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.605[m] 80.852[deg]	[grasp_sample.py: 539]
+05/13 21:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:42:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:42:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:42:02 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:42:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:42:03 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:42:03 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:42:03 INFO: [Worker 0] Worker 0 completed house 1: 17/19 successful episodes	[pipeline.py: 1323]
+05/13 21:42:03 INFO: [Worker 0] [PROFILE] House 1 complete: 17/19 successful, 19 episodes, total_time=6609.50s
+  House averages:
+  episode_total: mean=53.18s, total=3828.85s, count=72, min=210.6ms, max=202193.5ms
+  sensor_polling: mean=421.6ms, total=2304.91s, count=5467, min=370.3ms, max=985.7ms
+  save_trajectories: mean=10.18s, total=173.10s, count=17, min=9095.3ms, max=11548.2ms
+  physics_step: mean=24.0ms, total=131.47s, count=5467, min=14.3ms, max=90.7ms
+  save_batch_prep: mean=4.70s, total=79.94s, count=17, min=4005.5ms, max=6326.5ms
+  task_specific_sample: mean=528.0ms, total=38.01s, count=72, min=206.6ms, max=934.0ms
+  task_sampling: mean=566.8ms, total=35.71s, count=63, min=334.4ms, max=940.6ms
+  task_sampling_failed: mean=765.6ms, total=6.89s, count=9, min=210.6ms, max=4559.3ms
+  scene_load: mean=4.29s, total=4.29s, count=1, min=4290.1ms, max=4290.1ms
+  scene_env_create: mean=2.33s, total=2.33s, count=1, min=2332.9ms, max=2332.9ms
+  scene_compile: mean=1.76s, total=1.76s, count=1, min=1759.8ms, max=1759.8ms
+  compile_xml_load: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms
+  compile_mujoco: mean=778.4ms, total=778.4ms, count=1, min=778.4ms, max=778.4ms
+  scene_randomize: mean=1.9ms, total=135.0ms, count=72, min=1.1ms, max=4.8ms
+  scene_init: mean=130.8ms, total=130.8ms, count=1, min=130.8ms, max=130.8ms
+  scene_asset_install: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms
+  mj_forward_sync: mean=459.0us, total=33.0ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=17.4ms, total=17.4ms, count=1, min=17.4ms, max=17.4ms
+  asset_install_scene: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  policy_setup: mean=20.5us, total=1.3ms, count=63, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 21:42:03 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 21:42:03 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=6609.50s
+  Worker averages:
+  episode_total: mean=53.18s, total=3828.85s, count=72, min=210.6ms, max=202193.5ms
+  sensor_polling: mean=421.6ms, total=2304.91s, count=5467, min=370.3ms, max=985.7ms
+  save_trajectories: mean=10.18s, total=173.10s, count=17, min=9095.3ms, max=11548.2ms
+  physics_step: mean=24.0ms, total=131.47s, count=5467, min=14.3ms, max=90.7ms
+  save_batch_prep: mean=4.70s, total=79.94s, count=17, min=4005.5ms, max=6326.5ms
+  task_specific_sample: mean=528.0ms, total=38.01s, count=72, min=206.6ms, max=934.0ms
+  task_sampling: mean=566.8ms, total=35.71s, count=63, min=334.4ms, max=940.6ms
+  task_sampling_failed: mean=765.6ms, total=6.89s, count=9, min=210.6ms, max=4559.3ms
+  scene_load: mean=4.29s, total=4.29s, count=1, min=4290.1ms, max=4290.1ms
+  scene_env_create: mean=2.33s, total=2.33s, count=1, min=2332.9ms, max=2332.9ms
+  scene_compile: mean=1.76s, total=1.76s, count=1, min=1759.8ms, max=1759.8ms
+  compile_xml_load: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms
+  compile_mujoco: mean=778.4ms, total=778.4ms, count=1, min=778.4ms, max=778.4ms
+  scene_randomize: mean=1.9ms, total=135.0ms, count=72, min=1.1ms, max=4.8ms
+  scene_init: mean=130.8ms, total=130.8ms, count=1, min=130.8ms, max=130.8ms
+  scene_asset_install: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms
+  mj_forward_sync: mean=459.0us, total=33.0ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=17.4ms, total=17.4ms, count=1, min=17.4ms, max=17.4ms
+  asset_install_scene: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  policy_setup: mean=20.5us, total=1.3ms, count=63, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 21:42:07 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 21:42:07 INFO: Success count: 17, Total count: 19	[pipeline.py: 1491]
+05/13 21:42:07 INFO: Success rate: 89.47%	[pipeline.py: 1492]
+05/13 21:42:13 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:42:38 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:42:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:42:38 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 21:42:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:42:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:42:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:42:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.94s (batch: 4.94s, save: 10.00s)	[pipeline.py: 300]
+05/13 21:42:54 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.82s:
+  episode_total: mean=83.11s, total=166.23s, count=2, min=3409.9ms, max=162817.1ms
+  sensor_polling: mean=418.8ms, total=110.99s, count=265, min=381.1ms, max=934.3ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9999.9ms, max=9999.9ms
+  physics_step: mean=24.2ms, total=6.41s, count=265, min=16.5ms, max=36.6ms
+  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4938.5ms, max=4938.5ms
+  task_sampling: mean=407.5ms, total=815.0ms, count=2, min=372.4ms, max=442.6ms
+  task_specific_sample: mean=403.9ms, total=807.9ms, count=2, min=369.3ms, max=438.5ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=442.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, 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]
+05/13 21:42:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:42:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:42:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:42:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:42:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:42:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:42:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101898m	[env.py: 870]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:42:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69322195 -0.71675423 -0.10189756] yaw=-62.3deg	[env.py: 1019]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:42:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.1ms	[env.py: 1075]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.693, -0.717, -0.102)	[env.py: 1079]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg	[env.py: 1082]
+05/13 21:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:42:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:42:57 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:42:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:42:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:43:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.692s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:43:00 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:43:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:43:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:43:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:43:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:43:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:43:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:43:01 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: 256]
+05/13 21:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120107m	[env.py: 870]
+05/13 21:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:43:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31117441 -1.14535327 -0.12010651] yaw=-49.4deg	[env.py: 1019]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26862083 -1.21649204 -0.12010651] yaw=-62.7deg	[env.py: 1019]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=574.4ms, total=574.4ms	[env.py: 1075]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.145, -0.120)	[env.py: 1079]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg	[env.py: 1082]
+05/13 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:43:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:43:02 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:43:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:43:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:43:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:43:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:43:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:43:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.631[m] 80.729[deg]	[grasp_sample.py: 539]
+05/13 21:43:07 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:43:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:43:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:43:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:43:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:43:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:43:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:43:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:43:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:43:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147135m	[env.py: 870]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:43:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48864378 -1.02093123 -0.14713534] yaw=-81.0deg	[env.py: 1019]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:43:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=297.1ms, total=297.2ms	[env.py: 1075]
+05/13 21:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -1.021, -0.147)	[env.py: 1079]
+05/13 21:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg	[env.py: 1082]
+05/13 21:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 21:43:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:43:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:43:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:43:09 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:43:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:43:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:43:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:43:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:43:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:43:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.609[m] 95.825[deg]	[grasp_sample.py: 539]
+05/13 21:43:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:43:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:43:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:43:53 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 21:44:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:44:16 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:44:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:44:16 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 21:44:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:44:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.69s (batch: 3.82s, save: 8.87s)	[pipeline.py: 300]
+05/13 21:44:30 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.43s:
+  episode_total: mean=55.18s, total=165.54s, count=3, min=3446.4ms, max=152874.7ms
+  sensor_polling: mean=407.9ms, total=103.61s, count=254, min=378.3ms, max=924.6ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8871.5ms, max=8871.5ms
+  physics_step: mean=24.0ms, total=6.10s, count=254, min=16.5ms, max=87.8ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3820.1ms, max=3820.1ms
+  task_sampling: mean=477.3ms, total=1.43s, count=3, min=442.6ms, max=502.7ms
+  task_specific_sample: mean=473.9ms, total=1.42s, count=3, min=438.7ms, max=499.9ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=433.1us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:44:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:44:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:44:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:44:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:44:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116412m	[env.py: 870]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32540874 -1.06152505 -0.11641172] yaw=-34.9deg	[env.py: 1019]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35737669 -1.09278271 -0.11641172] yaw=-43.8deg	[env.py: 1019]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17891507 -1.043168   -0.11641172] yaw=-40.1deg	[env.py: 1019]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:44:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.8ms, total=141.8ms	[env.py: 1075]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.062, -0.116)	[env.py: 1079]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg	[env.py: 1082]
+05/13 21:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:44:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:44:31 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:44:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:44:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:44:36 INFO: [Worker 0] Feasibility-checked 238 grasps in 4.072s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:44:36 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.684[m] 88.414[deg]	[grasp_sample.py: 539]
+05/13 21:44:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:44:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:44:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:44:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:45:13 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:45:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:45:38 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:45:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 21:45:38 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 21:45:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:45:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:45:52 INFO: [Worker 0] Object is not in grasp! 0.00126 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:45:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:45:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:45:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 83 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:45:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:45:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:45:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.06s (batch: 4.87s, save: 9.19s)	[pipeline.py: 300]
+05/13 21:45:53 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:45:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 1.550[deg]	[grasp_sample.py: 539]
+05/13 21:45:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:45:53 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=2.01s:
+  episode_total: mean=57.74s, total=173.23s, count=3, min=3524.6ms, max=164649.1ms
+  sensor_polling: mean=412.7ms, total=104.42s, count=253, min=385.1ms, max=950.2ms
+  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9188.0ms, max=9188.0ms
+  physics_step: mean=23.0ms, total=5.83s, count=253, min=16.5ms, max=29.2ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4874.5ms, max=4874.5ms
+  task_sampling: mean=669.2ms, total=2.01s, count=3, min=555.2ms, max=867.3ms
+  task_specific_sample: mean=665.6ms, total=2.00s, count=3, min=551.6ms, max=863.9ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=440.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:45:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:45:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:45:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:45:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:45:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:45:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:45:55 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: 256]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150329m	[env.py: 870]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28199439 -1.26013279 -0.15032904] yaw=-10.1deg	[env.py: 1019]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1487445  -1.37705493 -0.15032904] yaw=-50.0deg	[env.py: 1019]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:45:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=359.4ms, total=359.5ms	[env.py: 1075]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.260, -0.150)	[env.py: 1079]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.1 deg	[env.py: 1082]
+05/13 21:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:45:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:45:55 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:45:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:45:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:45:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:45:57 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:45:57 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.626[m] 88.808[deg]	[grasp_sample.py: 539]
+05/13 21:45:58 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 21:46:00 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:46:00 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:46:00 INFO: [Worker 0] Worker 0 completed house 1: 17/22 successful episodes	[pipeline.py: 1323]
+05/13 21:46:00 INFO: [Worker 0] [PROFILE] House 1 complete: 17/22 successful, 22 episodes, total_time=6832.17s
+  House averages:
+  episode_total: mean=56.27s, total=4051.80s, count=72, min=219.1ms, max=202058.0ms
+  sensor_polling: mean=418.3ms, total=2296.50s, count=5490, min=365.4ms, max=963.1ms
+  save_trajectories: mean=9.95s, total=169.07s, count=17, min=9188.0ms, max=11626.9ms
+  physics_step: mean=24.3ms, total=133.47s, count=5490, min=14.4ms, max=111.0ms
+  save_batch_prep: mean=5.11s, total=86.93s, count=17, min=4459.2ms, max=7152.3ms
+  task_sampling: mean=647.9ms, total=42.76s, count=66, min=372.4ms, max=4402.7ms
+  task_specific_sample: mean=561.7ms, total=40.44s, count=72, min=215.4ms, max=1118.0ms
+  scene_load: mean=3.86s, total=3.86s, count=1, min=3862.9ms, max=3862.9ms
+  scene_env_create: mean=2.32s, total=2.32s, count=1, min=2318.6ms, max=2318.6ms
+  task_sampling_failed: mean=306.7ms, total=1.84s, count=6, min=219.1ms, max=564.6ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1335.9ms, max=1335.9ms
+  compile_mujoco: mean=788.3ms, total=788.3ms, count=1, min=788.3ms, max=788.3ms
+  compile_xml_load: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_randomize: mean=2.1ms, total=147.9ms, count=72, min=1.0ms, max=6.8ms
+  scene_init: mean=134.5ms, total=134.5ms, count=1, min=134.5ms, max=134.5ms
+  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  asset_install_grasps: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  mj_forward_sync: mean=475.8us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=19.2ms, total=19.2ms, count=1, min=19.2ms, max=19.2ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=21.5us, total=1.4ms, count=66, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 21:46:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 21:46:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=6832.17s
+  Worker averages:
+  episode_total: mean=56.27s, total=4051.80s, count=72, min=219.1ms, max=202058.0ms
+  sensor_polling: mean=418.3ms, total=2296.50s, count=5490, min=365.4ms, max=963.1ms
+  save_trajectories: mean=9.95s, total=169.07s, count=17, min=9188.0ms, max=11626.9ms
+  physics_step: mean=24.3ms, total=133.47s, count=5490, min=14.4ms, max=111.0ms
+  save_batch_prep: mean=5.11s, total=86.93s, count=17, min=4459.2ms, max=7152.3ms
+  task_sampling: mean=647.9ms, total=42.76s, count=66, min=372.4ms, max=4402.7ms
+  task_specific_sample: mean=561.7ms, total=40.44s, count=72, min=215.4ms, max=1118.0ms
+  scene_load: mean=3.86s, total=3.86s, count=1, min=3862.9ms, max=3862.9ms
+  scene_env_create: mean=2.32s, total=2.32s, count=1, min=2318.6ms, max=2318.6ms
+  task_sampling_failed: mean=306.7ms, total=1.84s, count=6, min=219.1ms, max=564.6ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1335.9ms, max=1335.9ms
+  compile_mujoco: mean=788.3ms, total=788.3ms, count=1, min=788.3ms, max=788.3ms
+  compile_xml_load: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_randomize: mean=2.1ms, total=147.9ms, count=72, min=1.0ms, max=6.8ms
+  scene_init: mean=134.5ms, total=134.5ms, count=1, min=134.5ms, max=134.5ms
+  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  asset_install_grasps: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  mj_forward_sync: mean=475.8us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=19.2ms, total=19.2ms, count=1, min=19.2ms, max=19.2ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=21.5us, total=1.4ms, count=66, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 21:46:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 21:46:03 INFO: Success count: 17, Total count: 22	[pipeline.py: 1491]
+05/13 21:46:03 INFO: Success rate: 77.27%	[pipeline.py: 1492]
+05/13 21:46:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:46:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:46:47 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:47:14 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:47:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:47:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 21:47:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:47:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:47:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.80s (batch: 4.05s, save: 10.75s)	[pipeline.py: 300]
+05/13 21:47:29 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.46s:
+  episode_total: mean=178.02s, total=178.02s, count=1, min=178017.2ms, max=178017.2ms
+  sensor_polling: mean=401.0ms, total=120.30s, count=300, min=376.8ms, max=954.6ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10750.2ms, max=10750.2ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.5ms, max=32.5ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.4ms, max=4047.4ms
+  task_sampling: mean=461.8ms, total=461.8ms, count=1, min=461.8ms, max=461.8ms
+  task_specific_sample: mean=457.3ms, total=457.3ms, count=1, min=457.3ms, max=457.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=445.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=35.1us, 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]
+05/13 21:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:47:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:47:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:47:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:47:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128765m	[env.py: 870]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22716737 -1.27266563 -0.12876514] yaw=-59.5deg	[env.py: 1019]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40742743 -1.04956996 -0.12876514] yaw=-55.2deg	[env.py: 1019]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.3ms, total=229.3ms	[env.py: 1075]
+05/13 21:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.273, -0.129)	[env.py: 1079]
+05/13 21:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/13 21:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 21:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:47:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:47:31 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:47:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:47:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:47:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:47:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:47:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:47:34 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.678[m] 88.134[deg]	[grasp_sample.py: 539]
+05/13 21:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:47:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:47:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:47:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 21:48:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:48:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:48:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:49:30 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:49:53 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:49:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:49:53 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 21:50:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:50:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:50:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.44s (batch: 3.87s, save: 9.57s)	[pipeline.py: 300]
+05/13 21:50:07 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.55s:
+  episode_total: mean=156.85s, total=156.85s, count=1, min=156851.7ms, max=156851.7ms
+  sensor_polling: mean=400.5ms, total=107.33s, count=268, min=376.5ms, max=938.4ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9571.9ms, max=9571.9ms
+  physics_step: mean=22.9ms, total=6.13s, count=268, min=17.3ms, max=25.1ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3871.4ms, max=3871.4ms
+  task_sampling: mean=548.7ms, total=548.7ms, count=1, min=548.7ms, max=548.7ms
+  task_specific_sample: mean=544.3ms, total=544.3ms, count=1, min=544.3ms, max=544.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.5us, 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]
+05/13 21:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:50:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:50:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:50:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:50:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:50:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131815m	[env.py: 870]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:50:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.2ms, total=219.3ms	[env.py: 1105]
+05/13 21:50:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:50:09 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]
+05/13 21:50:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:50:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:50:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138608m	[env.py: 870]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20729639 -0.94694654 -0.13860777] yaw=-54.6deg	[env.py: 1019]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14581917 -1.34104208 -0.13860777] yaw=-16.0deg	[env.py: 1019]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=314.7ms, total=314.7ms	[env.py: 1075]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -0.947, -0.139)	[env.py: 1079]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg	[env.py: 1082]
+05/13 21:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:50:11 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:50:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:50:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:50:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:50:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.803s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 21:50:14 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 21:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:50:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:50:15 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: 256]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175340m	[env.py: 870]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=355.9ms, total=355.9ms	[env.py: 1105]
+05/13 21:50:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:50:16 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:50:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:50:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:50:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:50:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:50:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:50:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164737m	[env.py: 870]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:50:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=264.0ms, total=264.0ms	[env.py: 1105]
+05/13 21:50:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 21:50:17 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 21:50:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:50:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:50:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:50:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:50:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:50:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103130m	[env.py: 870]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:50:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16718883 -1.28550828 -0.10313031] yaw=-45.9deg	[env.py: 1019]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89620685 -0.78155017 -0.10313031] yaw=-87.5deg	[env.py: 1019]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:50:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.0ms, total=257.0ms	[env.py: 1075]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.286, -0.103)	[env.py: 1079]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg	[env.py: 1082]
+05/13 21:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:50:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:50:19 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:50:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:50:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:50:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:50:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:50:22 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:50:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.717[m] 78.034[deg]	[grasp_sample.py: 539]
+05/13 21:50:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:50:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:50:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:51:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:51:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:51:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:52:21 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:52:46 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:52:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:52:46 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 21:53:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:53:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:53:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.49s (batch: 4.15s, save: 10.34s)	[pipeline.py: 300]
+05/13 21:53:01 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.19s:
+  episode_total: mean=33.43s, total=167.17s, count=5, min=233.1ms, max=162591.0ms
+  sensor_polling: mean=395.8ms, total=110.03s, count=278, min=369.1ms, max=946.6ms
+  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10344.0ms, max=10344.0ms
+  physics_step: mean=22.9ms, total=6.38s, count=278, min=16.4ms, max=25.4ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
+  task_specific_sample: mean=408.9ms, total=2.04s, count=5, min=226.0ms, max=630.0ms
+  task_sampling: mean=596.3ms, total=1.19s, count=2, min=559.1ms, max=633.4ms
+  task_sampling_failed: mean=290.4ms, total=871.2ms, count=3, min=233.1ms, max=364.9ms
+  scene_randomize: mean=1.4ms, total=7.0ms, count=5, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=433.2us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, 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]
+05/13 21:53:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 21:53:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 21:53:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:53:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 21:53:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 21:53:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 21:53:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147487m	[env.py: 870]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 21:53:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54819342 -1.03131196 -0.1474869 ] yaw=-64.9deg	[env.py: 1019]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21688487 -1.03945776 -0.1474869 ] yaw=-23.7deg	[env.py: 1019]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37321353 -1.0594787  -0.1474869 ] yaw=-39.4deg	[env.py: 1019]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 21:53:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms	[env.py: 1075]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -1.031, -0.147)	[env.py: 1079]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 21:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 21:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 21:53:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 21:53:03 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 21:53:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 21:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:53:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:53:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:53:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:53:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.579[m] 101.857[deg]	[grasp_sample.py: 539]
+05/13 21:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:53:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:53:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:53:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:54:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:54:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:54:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 21:54:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 21:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 21:54:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 21:54:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.202s, found 92 non-colliding grasps	[grasp_sample.py: 465]
+05/13 21:54:35 INFO: [Worker 0] Feasibility-checked 92 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 21:54:35 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.025[m] 3.893[deg]	[grasp_sample.py: 539]
+05/13 21:54:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 21:54:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 21:54:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:54:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:54:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 21:54:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 21:55:15 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 21:55:41 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/13 21:55:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 21:55:41 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 21:55:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 21:55:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005	[save_utils.py: 785]
+05/13 21:55:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.47s (batch: 4.06s, save: 10.41s)	[pipeline.py: 300]
+05/13 21:55:56 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.48s:
+  episode_total: mean=173.01s, total=173.01s, count=1, min=173009.6ms, max=173009.6ms
+  sensor_polling: mean=399.3ms, total=116.21s, count=291, min=374.4ms, max=913.5ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.2ms, max=10405.2ms
+  physics_step: mean=22.9ms, total=6.67s, count=291, min=16.4ms, max=34.5ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4063.8ms, max=4063.8ms
+  task_sampling: mean=480.5ms, total=480.5ms, count=1, min=480.5ms, max=480.5ms
+  task_specific_sample: mean=476.2ms, total=476.2ms, count=1, min=476.2ms, max=476.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=446.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 21:55:57 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:55:57 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/13 21:55:57 INFO: [Worker 0] Worker 0 completed house 1: 22/24 successful episodes	[pipeline.py: 1323]
+05/13 21:55:57 INFO: [Worker 0] [PROFILE] House 1 complete: 22/24 successful, 24 episodes, total_time=7892.12s
+  House averages:
+  episode_total: mean=64.73s, total=4660.75s, count=72, min=209.1ms, max=407910.0ms
+  sensor_polling: mean=416.2ms, total=2657.88s, count=6386, min=360.0ms, max=1037.6ms
+  save_trajectories: mean=9.96s, total=219.08s, count=22, min=8692.6ms, max=11142.3ms
+  physics_step: mean=24.3ms, total=155.16s, count=6386, min=14.5ms, max=87.8ms
+  save_batch_prep: mean=4.72s, total=103.91s, count=22, min=3820.1ms, max=6115.0ms
+  task_sampling: mean=689.4ms, total=40.68s, count=59, min=390.2ms, max=4981.3ms
+  task_specific_sample: mean=562.4ms, total=40.49s, count=72, min=205.6ms, max=1120.6ms
+  task_sampling_failed: mean=325.4ms, total=4.23s, count=13, min=209.1ms, max=789.7ms
+  scene_load: mean=4.09s, total=4.09s, count=1, min=4092.5ms, max=4092.5ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.0ms, max=2417.0ms
+  scene_compile: mean=1.44s, total=1.44s, count=1, min=1443.7ms, max=1443.7ms
+  compile_mujoco: mean=768.9ms, total=768.9ms, count=1, min=768.9ms, max=768.9ms
+  compile_xml_load: mean=566.2ms, total=566.2ms, count=1, min=566.2ms, max=566.2ms
+  scene_init: mean=155.6ms, total=155.6ms, count=1, min=155.6ms, max=155.6ms
+  scene_randomize: mean=2.1ms, total=149.1ms, count=72, min=1.0ms, max=5.4ms
+  scene_asset_install: mean=75.8ms, total=75.8ms, count=1, min=75.8ms, max=75.8ms
+  compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  asset_install_grasps: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  mj_forward_sync: mean=464.9us, total=33.5ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=23.2us, total=1.4ms, count=59, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 21:55:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 21:55:57 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=7892.12s
+  Worker averages:
+  episode_total: mean=64.73s, total=4660.75s, count=72, min=209.1ms, max=407910.0ms
+  sensor_polling: mean=416.2ms, total=2657.88s, count=6386, min=360.0ms, max=1037.6ms
+  save_trajectories: mean=9.96s, total=219.08s, count=22, min=8692.6ms, max=11142.3ms
+  physics_step: mean=24.3ms, total=155.16s, count=6386, min=14.5ms, max=87.8ms
+  save_batch_prep: mean=4.72s, total=103.91s, count=22, min=3820.1ms, max=6115.0ms
+  task_sampling: mean=689.4ms, total=40.68s, count=59, min=390.2ms, max=4981.3ms
+  task_specific_sample: mean=562.4ms, total=40.49s, count=72, min=205.6ms, max=1120.6ms
+  task_sampling_failed: mean=325.4ms, total=4.23s, count=13, min=209.1ms, max=789.7ms
+  scene_load: mean=4.09s, total=4.09s, count=1, min=4092.5ms, max=4092.5ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.0ms, max=2417.0ms
+  scene_compile: mean=1.44s, total=1.44s, count=1, min=1443.7ms, max=1443.7ms
+  compile_mujoco: mean=768.9ms, total=768.9ms, count=1, min=768.9ms, max=768.9ms
+  compile_xml_load: mean=566.2ms, total=566.2ms, count=1, min=566.2ms, max=566.2ms
+  scene_init: mean=155.6ms, total=155.6ms, count=1, min=155.6ms, max=155.6ms
+  scene_randomize: mean=2.1ms, total=149.1ms, count=72, min=1.0ms, max=5.4ms
+  scene_asset_install: mean=75.8ms, total=75.8ms, count=1, min=75.8ms, max=75.8ms
+  compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms
+  asset_install_grasps: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  mj_forward_sync: mean=464.9us, total=33.5ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=23.2us, total=1.4ms, count=59, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 21:56:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 21:56:00 INFO: Success count: 22, Total count: 24	[pipeline.py: 1491]
+05/13 21:56:00 INFO: Success rate: 91.67%	[pipeline.py: 1492]
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