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diff --git a/3drawers/sim_chunks/chunk_101/running_log.log b/3drawers/sim_chunks/chunk_101/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..3d7a624de6a5d356d83f7b1fe12ac58f02567ce7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_101/running_log.log
@@ -0,0 +1,16748 @@
+05/13 22:15:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:15:52 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 22:15:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:15:52 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_101'),
+ '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 0x76ddd0942d10>,
+ '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': 100008,
+ '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 22:15:52 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 22:15:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:15:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:15:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:15:52 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 22:15:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:15:52 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_101'),
+ '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 0x79ff519fee10>,
+ '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': 100006,
+ '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 22:15:52 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 22:15:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:15:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:15:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:15:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:15:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:15:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:15:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:15:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:15:55 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:15:55 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:15:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:55 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 22:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:55 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 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133849m	[env.py: 870]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:55 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 22:15:55 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:15:55 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:15:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:55 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 22:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:55 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 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118910m	[env.py: 870]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:55 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 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33676011 -0.93173285 -0.13384929] yaw=-78.6deg	[env.py: 1019]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5759355  -0.83068138 -0.13384929] yaw=-59.5deg	[env.py: 1019]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66326682 -0.93307864 -0.13384929] yaw=-88.3deg	[env.py: 1019]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.6ms, retries=169.3ms, total=183.9ms	[env.py: 1075]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -0.932, -0.134)	[env.py: 1079]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.6 deg	[env.py: 1082]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=22.0ms, retries=342.0ms, total=364.0ms	[env.py: 1105]
+05/13 22:15:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:15:55 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 22:15:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:55 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:56 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:15:56 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 22:15:56 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:15:56 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_101'),
+ '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 0x7be33dbf1750>,
+ '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': 100005,
+ '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 22:15:56 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 22:15:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:15:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:15:56 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:15:56 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 22:15:56 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:15:56 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_101'),
+ '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 0x7c2900efe2d0>,
+ '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': 100007,
+ '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 22:15:56 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 22:15:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:15:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:56 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 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194877m	[env.py: 870]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61084186 -0.71956586 -0.1948767 ] yaw=-67.3deg	[env.py: 1019]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.0ms, total=228.0ms	[env.py: 1075]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.720, -0.195)	[env.py: 1079]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg	[env.py: 1082]
+05/13 22:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:15:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:57 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:15:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:15:58 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:15:58 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:15:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:58 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 22:15:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:58 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 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186286m	[env.py: 870]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:58 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 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41863597 -0.89342649 -0.18628615] yaw=-84.8deg	[env.py: 1019]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33681844 -0.97861817 -0.18628615] yaw=-75.1deg	[env.py: 1019]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26348624 -1.29842181 -0.18628615] yaw=-18.7deg	[env.py: 1019]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=116.4ms, total=131.2ms	[env.py: 1075]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.893, -0.186)	[env.py: 1079]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.8 deg	[env.py: 1082]
+05/13 22:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:15:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:15:59 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:15:59 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:15:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:59 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 22:15:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:59 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 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139978m	[env.py: 870]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:59 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 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:59 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28532062 -1.25785713 -0.13997786] yaw=-25.3deg	[env.py: 1019]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06541648 -1.27444916 -0.13997786] yaw=-49.4deg	[env.py: 1019]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=15.3ms, retries=174.6ms, total=189.9ms	[env.py: 1075]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.258, -0.140)	[env.py: 1079]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.3 deg	[env.py: 1082]
+05/13 22:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:59 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 25.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:20 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 22:16:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 26.191s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:23 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 22:16:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 25.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:24 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 22:16:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.143s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:25 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.784[m] 107.486[deg]	[grasp_sample.py: 539]
+05/13 22:16:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.250s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:16:25 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:16:26 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:26 INFO: [Worker 0] Warmed up parallel IK solver in 27.479s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:26 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 22:16:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:27 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 22:16:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:27 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 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174158m	[env.py: 870]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18104833 -1.44101196 -0.17415826] yaw=-41.8deg	[env.py: 1019]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms	[env.py: 1075]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.441, -0.174)	[env.py: 1079]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg	[env.py: 1082]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:27 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:27 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 22:16:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.776[m] 98.570[deg]	[grasp_sample.py: 539]
+05/13 22:16:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:27 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 22:16:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:27 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 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117204m	[env.py: 870]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=293.4ms, total=293.4ms	[env.py: 1105]
+05/13 22:16:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:16:28 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 22:16:28 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:28 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.618[m] 86.475[deg]	[grasp_sample.py: 539]
+05/13 22:16:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:28 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 22:16:28 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 22:16:29 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.286s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:29 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.582[m] 79.528[deg]	[grasp_sample.py: 539]
+05/13 22:16:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:29 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 22:16:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:29 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 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166280m	[env.py: 870]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47628754 -0.8228666  -0.16627996] yaw=-40.5deg	[env.py: 1019]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35495969 -0.88906537 -0.16627996] yaw=-41.0deg	[env.py: 1019]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19814008 -1.02723568 -0.16627996] yaw=-65.3deg	[env.py: 1019]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.9ms, total=285.9ms	[env.py: 1075]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.823, -0.166)	[env.py: 1079]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg	[env.py: 1082]
+05/13 22:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:30 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:30 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 22:16:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:30 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 22:16:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:35 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.788[m] 92.412[deg]	[grasp_sample.py: 539]
+05/13 22:16:36 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:38 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 22:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:38 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 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130885m	[env.py: 870]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.77086905 -0.68839971 -0.13088531] yaw=-68.3deg	[env.py: 1019]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24749045 -1.28266168 -0.13088531] yaw=-40.9deg	[env.py: 1019]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=472.9ms, total=473.0ms	[env.py: 1075]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.771, -0.688, -0.131)	[env.py: 1079]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg	[env.py: 1082]
+05/13 22:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:38 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:38 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 22:16:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.792s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:16:40 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:16:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:42 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 22:16:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:42 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 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137892m	[env.py: 870]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29453283 -1.09910073 -0.13789179] yaw=-62.7deg	[env.py: 1019]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.1ms, total=283.2ms	[env.py: 1075]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.099, -0.138)	[env.py: 1079]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg	[env.py: 1082]
+05/13 22:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:42 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:42 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 22:16:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:44 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.717[m] 85.655[deg]	[grasp_sample.py: 539]
+05/13 22:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:46 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 22:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:46 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 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124895m	[env.py: 870]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23161691 -1.05043871 -0.12489519] yaw=-27.7deg	[env.py: 1019]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32538563 -0.99777519 -0.12489519] yaw=-34.2deg	[env.py: 1019]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.68328624 -0.81933477 -0.12489519] yaw=-73.7deg	[env.py: 1019]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms	[env.py: 1075]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.050, -0.125)	[env.py: 1079]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.7 deg	[env.py: 1082]
+05/13 22:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:47 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:47 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 22:16:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:52 INFO: [Worker 0] Feasibility-checked 236 grasps in 5.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:52 INFO: [Worker 0] Feasible grasp found 103 (originally 103): w/ 0.733[m] 96.661[deg]	[grasp_sample.py: 539]
+05/13 22:16:53 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:55 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 22:16:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:55 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 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198688m	[env.py: 870]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=471.7ms, total=471.8ms	[env.py: 1105]
+05/13 22:16:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:16:55 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 22:16:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:56 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 22:16:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:56 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 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127752m	[env.py: 870]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53002894 -0.72960872 -0.12775204] yaw=-77.7deg	[env.py: 1019]
+05/13 22:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03081037 -1.26838349 -0.12775204] yaw=-18.6deg	[env.py: 1019]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.8ms, total=281.9ms	[env.py: 1075]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.730, -0.128)	[env.py: 1079]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg	[env.py: 1082]
+05/13 22:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 22:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:57 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 22:16:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.579s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:16:59 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:17:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:17:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:17:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:17:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:17:00 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 22:17:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:17:00 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 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179254m	[env.py: 870]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:17:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.84161662 -0.85884766 -0.17925367] yaw=-65.5deg	[env.py: 1019]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.8ms, total=248.9ms	[env.py: 1075]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.842, -0.859, -0.179)	[env.py: 1079]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg	[env.py: 1082]
+05/13 22:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:17:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:17:00 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:17:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:17:00 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 22:17:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.303s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:02 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.665[m] 85.463[deg]	[grasp_sample.py: 539]
+05/13 22:17:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:03 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 22:17:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:17:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:17:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:26 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 22:17:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:26 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.479[m] 55.153[deg]	[grasp_sample.py: 539]
+05/13 22:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:36 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 22:17:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:37 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.829s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:37 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.479[m] 55.155[deg]	[grasp_sample.py: 539]
+05/13 22:17:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:47 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 22:17:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:48 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:48 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.479[m] 55.155[deg]	[grasp_sample.py: 539]
+05/13 22:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:55 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:58 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:17:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:17:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=6.45s:
+  episode_total: mean=12.85s, total=115.69s, count=9, min=303.0ms, max=58388.0ms
+  sensor_polling: mean=286.1ms, total=23.17s, count=81, min=271.6ms, max=384.7ms
+  task_sampling: mean=921.9ms, total=6.45s, count=7, min=419.4ms, max=3372.4ms
+  task_specific_sample: mean=487.6ms, total=4.39s, count=9, min=298.5ms, max=684.8ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2830.5ms, max=2830.5ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1607.6ms, max=1607.6ms
+  physics_step: mean=15.6ms, total=1.26s, count=81, min=11.4ms, max=18.3ms
+  scene_compile: mean=1.08s, total=1.08s, count=1, min=1083.1ms, max=1083.1ms
+  task_sampling_failed: mean=397.2ms, total=794.3ms, count=2, min=303.0ms, max=491.3ms
+  compile_mujoco: mean=573.7ms, total=573.7ms, count=1, min=573.7ms, max=573.7ms
+  compile_xml_load: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  scene_init: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  compile_robot_add: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  scene_randomize: mean=1.6ms, total=14.0ms, count=9, min=1.0ms, max=1.9ms
+  asset_install_objects: mean=12.6ms, total=12.6ms, count=1, min=12.6ms, max=12.6ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  mj_forward_sync: mean=373.5us, total=3.4ms, count=9, min=0.3ms, max=0.4ms
+  policy_setup: mean=21.7us, total=0.2ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:00 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 22:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:00 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 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197895m	[env.py: 870]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09790843 -1.24456684 -0.19789503] yaw=-35.1deg	[env.py: 1019]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=537.6ms, total=537.7ms	[env.py: 1075]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.245, -0.198)	[env.py: 1079]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg	[env.py: 1082]
+05/13 22:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:01 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:01 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 22:18:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:06 INFO: [Worker 0] Feasibility-checked 243 grasps in 5.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:06 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:18:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:08 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 22:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:08 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 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150193m	[env.py: 870]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.89700536 -0.91455945 -0.15019334] yaw=-98.5deg	[env.py: 1019]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24091164 -1.35004242 -0.15019334] yaw=-10.9deg	[env.py: 1019]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=487.7ms, total=487.7ms	[env.py: 1075]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.897, -0.915, -0.150)	[env.py: 1079]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.5 deg	[env.py: 1082]
+05/13 22:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:08 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:08 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 22:18:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:09 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:09 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.628[m] 99.189[deg]	[grasp_sample.py: 539]
+05/13 22:18:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:10 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 22:18:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:18:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:18:13 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 22:18:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:18:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:18:16 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:18:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:18:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.02s (batch: 3.67s, save: 8.35s)	[pipeline.py: 300]
+05/13 22:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.98s:
+  episode_total: mean=149.93s, total=149.93s, count=1, min=149927.2ms, max=149927.2ms
+  sensor_polling: mean=313.1ms, total=78.91s, count=252, min=279.5ms, max=462.9ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8349.7ms, max=8349.7ms
+  physics_step: mean=20.4ms, total=5.13s, count=252, min=18.0ms, max=39.2ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3669.9ms, max=3669.9ms
+  task_sampling: mean=2.98s, total=2.98s, count=1, min=2978.5ms, max=2978.5ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2555.5ms, max=2555.5ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1448.8ms, max=1448.8ms
+  scene_compile: mean=974.1ms, total=974.1ms, count=1, min=974.1ms, max=974.1ms
+  compile_mujoco: mean=549.1ms, total=549.1ms, count=1, min=549.1ms, max=549.1ms
+  task_specific_sample: mean=420.3ms, total=420.3ms, count=1, min=420.3ms, max=420.3ms
+  compile_xml_load: mean=240.1ms, total=240.1ms, count=1, min=240.1ms, max=240.1ms
+  compile_aux_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  compile_aux_policy_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  scene_init: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  scene_asset_install: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  asset_install_grasps: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  compile_robot_add: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=335.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=33.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:27 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 22:18:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:27 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 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118765m	[env.py: 870]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22301919 -1.36481393 -0.11876517] yaw=1.1deg	[env.py: 1019]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32870084 -1.00768356 -0.11876517] yaw=-63.4deg	[env.py: 1019]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:18:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:18:27 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39425898 -0.91739641 -0.11876517] yaw=-41.9deg	[env.py: 1019]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.8ms, total=168.9ms	[env.py: 1075]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -1.365, -0.119)	[env.py: 1079]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 1.1 deg	[env.py: 1082]
+05/13 22:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:28 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:28 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 22:18:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:18:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:18:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.20s (batch: 3.74s, save: 8.46s)	[pipeline.py: 300]
+05/13 22:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:29 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.96s:
+  episode_total: mean=51.47s, total=154.41s, count=3, min=2936.5ms, max=122387.8ms
+  sensor_polling: mean=317.2ms, total=82.48s, count=260, min=280.9ms, max=528.4ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8460.8ms, max=8460.8ms
+  physics_step: mean=20.5ms, total=5.32s, count=260, min=14.9ms, max=32.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.1ms, max=3736.1ms
+  task_sampling_failed: mean=2.94s, total=2.94s, count=1, min=2936.4ms, max=2936.4ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2563.9ms, max=2563.9ms
+  scene_env_create: mean=1.58s, total=1.58s, count=1, min=1584.5ms, max=1584.5ms
+  task_specific_sample: mean=440.1ms, total=1.32s, count=3, min=369.0ms, max=531.0ms
+  task_sampling: mean=478.2ms, total=956.4ms, count=2, min=423.2ms, max=533.2ms
+  scene_compile: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
+  compile_mujoco: mean=564.2ms, total=564.2ms, count=1, min=564.2ms, max=564.2ms
+  compile_xml_load: mean=205.8ms, total=205.8ms, count=1, min=205.8ms, max=205.8ms
+  scene_init: mean=89.2ms, total=89.2ms, count=1, min=89.2ms, max=89.2ms
+  compile_aux_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_policy_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  compile_robot_add: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=1.0ms, max=1.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=378.2us, total=1.1ms, count=3, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.2us, 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 22:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:30 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 22:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:30 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 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189307m	[env.py: 870]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.5ms, total=259.6ms	[env.py: 1105]
+05/13 22:18:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:18:30 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:18:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:18:31 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 22:18:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:32 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:32 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.502[m] 73.645[deg]	[grasp_sample.py: 539]
+05/13 22:18:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:32 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 22:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:32 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 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109889m	[env.py: 870]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21087746 -1.11406801 -0.10988905] yaw=-30.1deg	[env.py: 1019]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02479439 -1.31203663 -0.10988905] yaw=-25.2deg	[env.py: 1019]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47028574 -0.89921017 -0.10988905] yaw=-86.0deg	[env.py: 1019]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms	[env.py: 1075]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.114, -0.110)	[env.py: 1079]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 22:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:33 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:33 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 22:18:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:37 INFO: [Worker 0] Feasibility-checked 229 grasps in 9.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:37 INFO: [Worker 0] Feasible grasp found 292 (originally 292): w/ 0.657[m] 78.882[deg]	[grasp_sample.py: 539]
+05/13 22:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:38 INFO: [Worker 0] Feasibility-checked 243 grasps in 5.181s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:38 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.719[m] 77.840[deg]	[grasp_sample.py: 539]
+05/13 22:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:39 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 22:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:18:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:18:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.76s (batch: 4.08s, save: 8.69s)	[pipeline.py: 300]
+05/13 22:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:41 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.76s:
+  episode_total: mean=164.97s, total=164.97s, count=1, min=164971.4ms, max=164971.4ms
+  sensor_polling: mean=322.5ms, total=91.25s, count=283, min=286.8ms, max=649.5ms
+  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8685.8ms, max=8685.8ms
+  physics_step: mean=19.5ms, total=5.52s, count=283, min=14.6ms, max=71.8ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4078.9ms, max=4078.9ms
+  task_sampling: mean=2.76s, total=2.76s, count=1, min=2762.7ms, max=2762.7ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2382.9ms, max=2382.9ms
+  scene_env_create: mean=1.27s, total=1.27s, count=1, min=1274.9ms, max=1274.9ms
+  scene_compile: mean=980.6ms, total=980.6ms, count=1, min=980.6ms, max=980.6ms
+  compile_mujoco: mean=724.5ms, total=724.5ms, count=1, min=724.5ms, max=724.5ms
+  task_specific_sample: mean=377.7ms, total=377.7ms, count=1, min=377.7ms, max=377.7ms
+  compile_xml_load: mean=194.7ms, total=194.7ms, count=1, min=194.7ms, max=194.7ms
+  scene_init: mean=86.0ms, total=86.0ms, count=1, min=86.0ms, max=86.0ms
+  compile_aux_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=858.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=335.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:18:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:18:42 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 22:18:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:42 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 22:18:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:42 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 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199316m	[env.py: 870]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.78242786 -0.94514909 -0.1993162 ] yaw=-99.0deg	[env.py: 1019]
+05/13 22:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18435086 -1.2151172  -0.1993162 ] yaw=-21.7deg	[env.py: 1019]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=243.5ms, total=243.5ms	[env.py: 1075]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.782, -0.945, -0.199)	[env.py: 1079]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.0 deg	[env.py: 1082]
+05/13 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:43 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:43 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 22:18:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:43 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.111s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:43 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.502[m] 73.647[deg]	[grasp_sample.py: 539]
+05/13 22:18:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:44 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.593[m] 99.785[deg]	[grasp_sample.py: 539]
+05/13 22:18:45 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:46 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 22:18:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:46 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 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191400m	[env.py: 870]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64177118 -0.8106506  -0.19139987] yaw=-86.7deg	[env.py: 1019]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.1ms, total=215.2ms	[env.py: 1075]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.811, -0.191)	[env.py: 1079]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.7 deg	[env.py: 1082]
+05/13 22:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:47 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:47 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 22:18:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:18:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:18:54 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 22:18:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:55 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.502[m] 73.647[deg]	[grasp_sample.py: 539]
+05/13 22:18:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:19:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:19:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:19:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:19:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=1.48s:
+  episode_total: mean=31.61s, total=63.22s, count=2, min=6069.6ms, max=57153.0ms
+  sensor_polling: mean=303.6ms, total=20.95s, count=69, min=278.2ms, max=442.7ms
+  task_sampling: mean=738.5ms, total=1.48s, count=2, min=717.1ms, max=759.9ms
+  task_specific_sample: mean=736.0ms, total=1.47s, count=2, min=714.3ms, max=757.7ms
+  physics_step: mean=16.3ms, total=1.12s, count=69, min=11.5ms, max=28.3ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms
+  mj_forward_sync: mean=373.8us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:19:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:19:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:19:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:19:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:19:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:19:06 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 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156759m	[env.py: 870]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:19:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75062544 -0.7203295  -0.15675925] yaw=-71.2deg	[env.py: 1019]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74173817 -0.85335726 -0.15675925] yaw=-76.0deg	[env.py: 1019]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:19:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=317.3ms, total=317.4ms	[env.py: 1075]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.751, -0.720, -0.157)	[env.py: 1079]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg	[env.py: 1082]
+05/13 22:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:19:07 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:19:07 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 22:19:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:19:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:19:13 INFO: [Worker 0] Feasibility-checked 242 grasps in 26.142s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:19:13 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.672[m] 101.799[deg]	[grasp_sample.py: 539]
+05/13 22:19:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:19:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:19:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:14 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 22:19:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 10.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:19:17 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.730[m] 84.970[deg]	[grasp_sample.py: 539]
+05/13 22:19:18 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:19:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:19:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:19:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:19:20 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 22:19:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:19:20 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 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102927m	[env.py: 870]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:19:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:19:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21636468 -1.00648995 -0.10292666] yaw=-45.9deg	[env.py: 1019]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:19:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=350.9ms, total=351.0ms	[env.py: 1075]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.006, -0.103)	[env.py: 1079]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg	[env.py: 1082]
+05/13 22:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:19:20 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:19:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:19:20 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 22:19:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:19:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:19:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.791s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:19:22 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:19:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:19:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:19:24 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 22:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:19:24 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 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149735m	[env.py: 870]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21910884 -0.92282707 -0.14973454] yaw=-59.8deg	[env.py: 1019]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51550764 -0.9990725  -0.14973454] yaw=-40.7deg	[env.py: 1019]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19863804 -1.34249444 -0.14973454] yaw=-4.3deg	[env.py: 1019]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.9ms, total=197.0ms	[env.py: 1075]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -0.923, -0.150)	[env.py: 1079]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/13 22:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:19:24 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:19:24 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 22:19:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:19:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.722s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:19:26 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:19:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:19:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:19:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:19:27 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 22:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:19:27 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 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164330m	[env.py: 870]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20397297 -1.0390125  -0.16433029] yaw=-30.6deg	[env.py: 1019]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.76305096 -0.71055895 -0.16433029] yaw=-85.9deg	[env.py: 1019]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:19:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms	[env.py: 1075]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.039, -0.164)	[env.py: 1079]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.6 deg	[env.py: 1082]
+05/13 22:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 22:19:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:19:28 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:19:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:19:28 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 22:19:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:19:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:19:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:19:32 INFO: [Worker 0] Feasibility-checked 239 grasps in 3.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:19:32 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.709[m] 80.763[deg]	[grasp_sample.py: 539]
+05/13 22:19:33 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:19:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:19:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:19:34 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 22:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:19:34 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 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162250m	[env.py: 870]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57051781 -0.95001811 -0.16224984] yaw=-47.9deg	[env.py: 1019]
+05/13 22:19:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:19:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:19:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=360.8ms, total=360.8ms	[env.py: 1075]
+05/13 22:19:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.950, -0.162)	[env.py: 1079]
+05/13 22:19:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg	[env.py: 1082]
+05/13 22:19:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 22:19:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:19:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:19:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:19:35 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:19:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:19:35 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 22:19:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:19:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:19:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:19:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.626[m] 90.680[deg]	[grasp_sample.py: 539]
+05/13 22:19:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:19:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:19:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:36 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 22:19:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:20:09 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:20:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:20:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:20:28 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:20:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:20:28 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:20:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:20:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:20:33 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 22:20:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:20:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:20:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.66s (batch: 3.50s, save: 8.17s)	[pipeline.py: 300]
+05/13 22:20:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=132.82s, total=132.82s, count=1, min=132821.0ms, max=132821.0ms
+  sensor_polling: mean=317.3ms, total=84.41s, count=266, min=285.6ms, max=545.1ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8167.0ms, max=8167.0ms
+  physics_step: mean=20.1ms, total=5.34s, count=266, min=14.2ms, max=27.0ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.2ms, max=3496.2ms
+  task_sampling: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
+  task_specific_sample: mean=406.7ms, total=406.7ms, count=1, min=406.7ms, max=406.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=414.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, 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 22:20:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:20:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:20:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:20:41 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 22:20:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:20:41 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 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152975m	[env.py: 870]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:20:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45295823 -1.06591405 -0.15297473] yaw=-35.6deg	[env.py: 1019]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.80528609 -0.64819879 -0.15297473] yaw=-67.3deg	[env.py: 1019]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10052304 -1.32547802 -0.15297473] yaw=0.6deg	[env.py: 1019]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.1ms, total=320.1ms	[env.py: 1075]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -1.066, -0.153)	[env.py: 1079]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/13 22:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 22:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:20:42 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:20:42 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 22:20:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:20:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:20:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:20:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.597[m] 82.537[deg]	[grasp_sample.py: 539]
+05/13 22:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:20:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:20:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:43 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 22:20:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:20:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:20:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.50s (batch: 3.66s, save: 8.83s)	[pipeline.py: 300]
+05/13 22:20:46 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.64s:
+  episode_total: mean=66.95s, total=133.90s, count=2, min=271.3ms, max=133630.6ms
+  sensor_polling: mean=306.8ms, total=85.60s, count=279, min=285.6ms, max=544.7ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8832.6ms, max=8832.6ms
+  physics_step: mean=19.9ms, total=5.54s, count=279, min=14.5ms, max=27.6ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3663.3ms, max=3663.3ms
+  task_specific_sample: mean=449.2ms, total=898.3ms, count=2, min=265.4ms, max=633.0ms
+  task_sampling: mean=636.3ms, total=636.3ms, count=1, min=636.3ms, max=636.3ms
+  task_sampling_failed: mean=271.3ms, total=271.3ms, count=1, min=271.3ms, max=271.3ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.8ms, max=2.5ms
+  mj_forward_sync: mean=381.7us, total=0.8ms, count=2, 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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:20:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:20:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:20:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:20:47 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 22:20:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:20:47 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 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164470m	[env.py: 870]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:20:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51169766 -1.04590255 -0.16446959] yaw=-49.2deg	[env.py: 1019]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62090797 -0.80512317 -0.16446959] yaw=-84.7deg	[env.py: 1019]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:20:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms	[env.py: 1075]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.046, -0.164)	[env.py: 1079]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/13 22:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:20:47 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:20:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:20:48 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 22:20:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:20:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:20:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:20:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.600[m] 89.724[deg]	[grasp_sample.py: 539]
+05/13 22:20:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:20:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:20:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:49 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 22:20:53 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:21:08 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:21:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:21:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:21:12 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 22:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:21:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:21:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.65s (batch: 3.71s, save: 7.94s)	[pipeline.py: 300]
+05/13 22:21:24 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.94s:
+  episode_total: mean=80.11s, total=160.23s, count=2, min=2322.9ms, max=157905.0ms
+  sensor_polling: mean=337.5ms, total=90.12s, count=267, min=295.3ms, max=658.4ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7938.9ms, max=7938.9ms
+  physics_step: mean=21.4ms, total=5.73s, count=267, min=14.5ms, max=54.6ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3710.4ms, max=3710.4ms
+  task_sampling: mean=471.6ms, total=943.1ms, count=2, min=431.2ms, max=511.9ms
+  task_specific_sample: mean=468.0ms, total=936.0ms, count=2, min=427.6ms, max=508.3ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms
+  mj_forward_sync: mean=375.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, 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 22:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:25 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 22:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:25 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 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141662m	[env.py: 870]
+05/13 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22134997 -1.03251601 -0.14166153] yaw=-46.2deg	[env.py: 1019]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52164127 -0.97453103 -0.14166153] yaw=-77.6deg	[env.py: 1019]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86738604 -0.83486253 -0.14166153] yaw=-65.6deg	[env.py: 1019]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.033, -0.142)	[env.py: 1079]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg	[env.py: 1082]
+05/13 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:26 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:26 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 22:21:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:21:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:21:27 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:21:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.788s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:21:28 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:21:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:29 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 22:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:29 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 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144524m	[env.py: 870]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50702288 -0.92406633 -0.14452364] yaw=-86.7deg	[env.py: 1019]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45511045 -0.89366444 -0.14452364] yaw=-43.4deg	[env.py: 1019]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.7814504  -0.78049305 -0.14452364] yaw=-108.4deg	[env.py: 1019]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.5ms, total=286.5ms	[env.py: 1075]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.924, -0.145)	[env.py: 1079]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.7 deg	[env.py: 1082]
+05/13 22:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 22:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:30 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:30 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 22:21:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:21:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:21:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.76s (batch: 3.84s, save: 7.92s)	[pipeline.py: 300]
+05/13 22:21:39 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.57s:
+  episode_total: mean=29.54s, total=147.69s, count=5, min=2306.1ms, max=125214.8ms
+  sensor_polling: mean=314.9ms, total=82.50s, count=262, min=275.3ms, max=627.5ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7923.7ms, max=7923.7ms
+  physics_step: mean=20.1ms, total=5.27s, count=262, min=13.8ms, max=29.0ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3836.4ms, max=3836.4ms
+  task_sampling: mean=513.9ms, total=2.57s, count=5, min=421.7ms, max=600.3ms
+  task_specific_sample: mean=511.2ms, total=2.56s, count=5, min=418.8ms, max=597.1ms
+  scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=382.2us, total=1.9ms, count=5, min=0.3ms, max=0.5ms
+  policy_setup: mean=12.5us, 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 22:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:41 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 22:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:41 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 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109356m	[env.py: 870]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55361216 -0.77486417 -0.10935573] yaw=-39.6deg	[env.py: 1019]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45666171 -0.84573515 -0.10935573] yaw=-72.3deg	[env.py: 1019]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38518144 -1.08949501 -0.10935573] yaw=-33.8deg	[env.py: 1019]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms	[env.py: 1075]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.775, -0.109)	[env.py: 1079]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 22:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:41 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:41 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 22:21:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.672s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:21:43 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:21:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:44 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 22:21:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:44 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 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167441m	[env.py: 870]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06016233 -1.32350425 -0.1674411 ] yaw=-42.1deg	[env.py: 1019]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.73991083 -0.79967983 -0.1674411 ] yaw=-81.0deg	[env.py: 1019]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11028267 -1.08647235 -0.1674411 ] yaw=-14.3deg	[env.py: 1019]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.5ms, total=78.5ms	[env.py: 1075]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.060, -1.324, -0.167)	[env.py: 1079]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg	[env.py: 1082]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:45 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:45 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 22:21:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.674s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:21:46 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:48 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 22:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:48 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 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199577m	[env.py: 870]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.6ms, total=197.6ms	[env.py: 1105]
+05/13 22:21:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:49 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 22:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:49 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 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101351m	[env.py: 870]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.71639696 -0.88083542 -0.10135108] yaw=-63.4deg	[env.py: 1019]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02461404 -1.27407877 -0.10135108] yaw=-13.7deg	[env.py: 1019]
+05/13 22:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=252.8ms, total=252.9ms	[env.py: 1075]
+05/13 22:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.716, -0.881, -0.101)	[env.py: 1079]
+05/13 22:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg	[env.py: 1082]
+05/13 22:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 22:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:50 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:50 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 22:21:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.668[m] 86.777[deg]	[grasp_sample.py: 539]
+05/13 22:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:21:51 INFO: [Worker 0] Feasibility-checked 242 grasps in 20.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:51 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.707[m] 110.050[deg]	[grasp_sample.py: 539]
+05/13 22:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:51 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 22:21:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:53 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 22:21:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:53 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 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149687m	[env.py: 870]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.80208502 -0.66154474 -0.14968691] yaw=-98.3deg	[env.py: 1019]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48671214 -1.04916678 -0.14968691] yaw=-69.3deg	[env.py: 1019]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=444.5ms, total=444.6ms	[env.py: 1075]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.802, -0.662, -0.150)	[env.py: 1079]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.3 deg	[env.py: 1082]
+05/13 22:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:54 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:54 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 22:21:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:56 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.865s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:58 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 22:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:58 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 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169942m	[env.py: 870]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37573208 -1.14735645 -0.16994186] yaw=-17.9deg	[env.py: 1019]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25684205 -0.92558919 -0.16994186] yaw=-26.3deg	[env.py: 1019]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=279.0ms, total=279.1ms	[env.py: 1075]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.147, -0.170)	[env.py: 1079]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.9 deg	[env.py: 1082]
+05/13 22:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:58 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:58 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 22:21:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:59 INFO: [Worker 0] Feasibility-checked 233 grasps in 1.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.605[m] 76.755[deg]	[grasp_sample.py: 539]
+05/13 22:22:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:00 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 22:22:09 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:22:18 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:22:27 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:22:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:22:27 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 22:22:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:22:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:22:37 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:22:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:22:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:22:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.17s (batch: 3.53s, save: 7.64s)	[pipeline.py: 300]
+05/13 22:22:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=117.76s, total=117.76s, count=1, min=117763.6ms, max=117763.6ms
+  sensor_polling: mean=308.7ms, total=78.73s, count=255, min=281.8ms, max=548.9ms
+  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7640.0ms, max=7640.0ms
+  physics_step: mean=20.0ms, total=5.09s, count=255, min=13.7ms, max=27.7ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3530.8ms, max=3530.8ms
+  task_sampling: mean=547.2ms, total=547.2ms, count=1, min=547.2ms, max=547.2ms
+  task_specific_sample: mean=543.6ms, total=543.6ms, count=1, min=543.6ms, max=543.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=417.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:22:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:22:40 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 22:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:22:40 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 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124346m	[env.py: 870]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.7ms, total=229.7ms	[env.py: 1105]
+05/13 22:22:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:22:41 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:22:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:22:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:22:42 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 22:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:22:42 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 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169786m	[env.py: 870]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3521955  -1.02662089 -0.16978631] yaw=-47.5deg	[env.py: 1019]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24810904 -1.25121888 -0.16978631] yaw=-19.5deg	[env.py: 1019]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04931693 -1.22122939 -0.16978631] yaw=-9.4deg	[env.py: 1019]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.3ms	[env.py: 1075]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.027, -0.170)	[env.py: 1079]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg	[env.py: 1082]
+05/13 22:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:22:42 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:22:42 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 22:22:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:22:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:22:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:22:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.678[m] 94.678[deg]	[grasp_sample.py: 539]
+05/13 22:22:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:22:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:22:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:45 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 22:22:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:22:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:22:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.59s (batch: 3.39s, save: 8.20s)	[pipeline.py: 300]
+05/13 22:22:49 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.46s:
+  episode_total: mean=122.20s, total=122.20s, count=1, min=122198.4ms, max=122198.4ms
+  sensor_polling: mean=309.6ms, total=79.56s, count=257, min=284.5ms, max=558.1ms
+  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8196.6ms, max=8196.6ms
+  physics_step: mean=20.0ms, total=5.15s, count=257, min=13.6ms, max=27.2ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3393.9ms, max=3393.9ms
+  task_sampling: mean=456.9ms, total=456.9ms, count=1, min=456.9ms, max=456.9ms
+  task_specific_sample: mean=453.3ms, total=453.3ms, count=1, min=453.3ms, max=453.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=352.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, 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 22:22:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:22:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:22:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:22:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:22:51 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 22:22:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:22:51 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 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180082m	[env.py: 870]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:22:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23684744 -1.3507159  -0.18008217] yaw=-10.0deg	[env.py: 1019]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:22:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms	[env.py: 1075]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.351, -0.180)	[env.py: 1079]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.0 deg	[env.py: 1082]
+05/13 22:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:22:51 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:22:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:22:51 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 22:22:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:22:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:22:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:54 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:22:54 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.564[m] 82.623[deg]	[grasp_sample.py: 539]
+05/13 22:22:55 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:22:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:22:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:22:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:22:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:22:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:22:56 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 22:22:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:22:56 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 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180900m	[env.py: 870]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:22:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.8853564  -0.87848318 -0.18090008] yaw=-77.1deg	[env.py: 1019]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32908579 -0.93536802 -0.18090008] yaw=-59.1deg	[env.py: 1019]
+05/13 22:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33177562 -1.16339555 -0.18090008] yaw=-30.8deg	[env.py: 1019]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:22:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.1ms, total=233.2ms	[env.py: 1075]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.885, -0.878, -0.181)	[env.py: 1079]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.1 deg	[env.py: 1082]
+05/13 22:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 22:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:22:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:22:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:22:57 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 22:22:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:22:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:22:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:22:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.614[m] 90.514[deg]	[grasp_sample.py: 539]
+05/13 22:22:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:22:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:22:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:58 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 22:22:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:03 INFO: [Worker 0] Object is not in grasp! 0.00132 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:23:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:23:03 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 22:23:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 103 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:04 INFO: [Worker 0] Feasibility-checked 103 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:04 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 3.148[deg]	[grasp_sample.py: 539]
+05/13 22:23:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:23:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:23:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:23:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:23:20 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 22:23:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.845s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.456[m] 61.641[deg]	[grasp_sample.py: 539]
+05/13 22:23:22 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:23:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:23:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:23:24 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 22:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:23:24 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 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161440m	[env.py: 870]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36056756 -0.96236915 -0.16143981] yaw=-41.7deg	[env.py: 1019]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25819618 -1.10386042 -0.16143981] yaw=-61.1deg	[env.py: 1019]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64065367 -0.76971182 -0.16143981] yaw=-49.9deg	[env.py: 1019]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:23:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.3ms, total=173.3ms	[env.py: 1075]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.962, -0.161)	[env.py: 1079]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg	[env.py: 1082]
+05/13 22:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:23:24 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:23:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:23:24 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 22:23:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.157s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:31 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.707[m] 90.627[deg]	[grasp_sample.py: 539]
+05/13 22:23:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:23:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:23:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:32 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 22:23:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:23:36 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:23:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:42 INFO: [Worker 0] Object is not in grasp! 0.00162 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:23:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:23:42 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 22:23:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 98 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:42 INFO: [Worker 0] Feasibility-checked 98 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:42 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.155[deg]	[grasp_sample.py: 539]
+05/13 22:23:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:23:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:23:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:23:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:56 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:24:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:24:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:24:00 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 22:24:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:24:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:24:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.45s (batch: 3.95s, save: 8.50s)	[pipeline.py: 300]
+05/13 22:24:13 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.18s:
+  episode_total: mean=37.16s, total=148.64s, count=4, min=205.6ms, max=144031.9ms
+  sensor_polling: mean=352.9ms, total=95.65s, count=271, min=273.6ms, max=677.8ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8499.6ms, max=8499.6ms
+  physics_step: mean=22.9ms, total=6.22s, count=271, min=13.7ms, max=54.8ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.9ms, max=3954.9ms
+  task_specific_sample: mean=342.6ms, total=1.37s, count=4, min=202.2ms, max=458.9ms
+  task_sampling: mean=392.3ms, total=1.18s, count=3, min=270.0ms, max=461.4ms
+  task_sampling_failed: mean=205.6ms, total=205.6ms, count=1, min=205.6ms, max=205.6ms
+  scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.0ms, max=2.3ms
+  mj_forward_sync: mean=405.6us, total=1.6ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, 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 22:24:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:15 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 22:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:15 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 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142088m	[env.py: 870]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8738307  -0.79132185 -0.14208823] yaw=-113.3deg	[env.py: 1019]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.7ms	[env.py: 1075]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.874, -0.791, -0.142)	[env.py: 1079]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.3 deg	[env.py: 1082]
+05/13 22:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:15 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:15 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 22:24:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:16 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:16 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.758[m] 84.830[deg]	[grasp_sample.py: 539]
+05/13 22:24:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:17 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:24:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:24:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:24:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:24:25 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:24:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:24:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:24:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.58s (batch: 4.00s, save: 9.57s)	[pipeline.py: 300]
+05/13 22:24:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.11s:
+  episode_total: mean=45.26s, total=181.02s, count=4, min=2417.6ms, max=153409.3ms
+  sensor_polling: mean=355.3ms, total=106.59s, count=300, min=294.3ms, max=713.8ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9573.6ms, max=9573.6ms
+  physics_step: mean=22.0ms, total=6.61s, count=300, min=17.2ms, max=31.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.8ms, max=4002.8ms
+  task_sampling: mean=527.8ms, total=2.11s, count=4, min=437.4ms, max=673.1ms
+  task_specific_sample: mean=524.9ms, total=2.10s, count=4, min=433.9ms, max=670.4ms
+  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.0ms, max=2.2ms
+  mj_forward_sync: mean=387.1us, total=1.5ms, count=4, min=0.3ms, max=0.4ms
+  policy_setup: mean=19.5us, 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 22:24:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:33 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 22:24:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:33 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 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116259m	[env.py: 870]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45191724 -1.09464785 -0.11625859] yaw=-47.6deg	[env.py: 1019]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.1ms, total=296.1ms	[env.py: 1075]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -1.095, -0.116)	[env.py: 1079]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 22:24:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:34 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:34 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 22:24:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:35 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.198s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.562[m] 80.987[deg]	[grasp_sample.py: 539]
+05/13 22:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:36 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 22:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:24:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:24:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:25:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:25:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:25:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.73s (batch: 3.74s, save: 8.99s)	[pipeline.py: 300]
+05/13 22:25:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=69.31s, total=138.62s, count=2, min=240.8ms, max=138380.2ms
+  sensor_polling: mean=305.5ms, total=91.66s, count=300, min=278.1ms, max=514.1ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8991.5ms, max=8991.5ms
+  physics_step: mean=19.9ms, total=5.97s, count=300, min=13.6ms, max=56.5ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.0ms, max=3736.0ms
+  task_specific_sample: mean=328.2ms, total=656.4ms, count=2, min=235.4ms, max=421.0ms
+  task_sampling: mean=423.8ms, total=423.8ms, count=1, min=423.8ms, max=423.8ms
+  task_sampling_failed: mean=240.8ms, total=240.8ms, count=1, min=240.8ms, max=240.8ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=407.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, 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 22:25:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:01 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 22:25:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:01 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 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113189m	[env.py: 870]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03472826 -1.32792541 -0.11318869] yaw=-12.8deg	[env.py: 1019]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.035, -1.328, -0.113)	[env.py: 1079]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.8 deg	[env.py: 1082]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:02 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:02 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 22:25:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:04 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.780s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:05 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 22:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:05 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 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173785m	[env.py: 870]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:05 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12994742 -1.22443888 -0.17378471] yaw=-21.4deg	[env.py: 1019]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40060257 -0.92128362 -0.17378471] yaw=-77.7deg	[env.py: 1019]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.8ms	[env.py: 1075]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -1.224, -0.174)	[env.py: 1079]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.4 deg	[env.py: 1082]
+05/13 22:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:06 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:06 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 22:25:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:14 INFO: [Worker 0] Feasibility-checked 229 grasps in 7.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:25:14 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.666[m] 93.444[deg]	[grasp_sample.py: 539]
+05/13 22:25:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:25:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:25:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:14 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 22:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:25:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:25:26 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 22:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:25:28 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 22:25:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:25:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:25:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:25:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.70s (batch: 3.55s, save: 8.15s)	[pipeline.py: 300]
+05/13 22:25:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.29s:
+  episode_total: mean=54.90s, total=164.71s, count=3, min=4452.4ms, max=134368.2ms
+  sensor_polling: mean=307.5ms, total=99.94s, count=325, min=276.7ms, max=703.2ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.0ms, max=8152.0ms
+  physics_step: mean=19.7ms, total=6.39s, count=325, min=13.9ms, max=31.2ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3548.3ms, max=3548.3ms
+  task_sampling: mean=428.9ms, total=1.29s, count=3, min=391.7ms, max=458.3ms
+  task_specific_sample: mean=425.5ms, total=1.28s, count=3, min=388.3ms, max=454.4ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=398.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.7us, 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 22:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:39 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 22:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:39 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 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198322m	[env.py: 870]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.1ms, total=204.2ms	[env.py: 1105]
+05/13 22:25:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:25:39 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:41 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 22:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:41 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 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175003m	[env.py: 870]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.91340233 -0.82134339 -0.17500258] yaw=-86.8deg	[env.py: 1019]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=357.0ms, total=357.0ms	[env.py: 1075]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.913, -0.821, -0.175)	[env.py: 1079]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.8 deg	[env.py: 1082]
+05/13 22:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:41 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:41 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 22:25:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:43 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.978s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:25:43 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.659[m] 97.083[deg]	[grasp_sample.py: 539]
+05/13 22:25:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:25:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:25:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:43 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 22:25:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:06 INFO: [Worker 0] Feasibility-checked 244 grasps in 37.337s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:06 INFO: [Worker 0] Feasible grasp found 534 (originally 227): w/ 0.188[m] 25.904[deg]	[grasp_sample.py: 539]
+05/13 22:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:07 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:26:07 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 22:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:26:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:26:07 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 22:26:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:08 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.779s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:08 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.479[m] 63.551[deg]	[grasp_sample.py: 539]
+05/13 22:26:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:26:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:09 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 22:26:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:09 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 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105683m	[env.py: 870]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:26:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15035269 -1.35108214 -0.10568268] yaw=-23.6deg	[env.py: 1019]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.2ms, total=224.3ms	[env.py: 1075]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.150, -1.351, -0.106)	[env.py: 1079]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.6 deg	[env.py: 1082]
+05/13 22:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:09 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:09 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 22:26:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:13 INFO: [Worker 0] Feasibility-checked 235 grasps in 3.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:13 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.690[m] 71.399[deg]	[grasp_sample.py: 539]
+05/13 22:26:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:16 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 22:26:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:16 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 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104975m	[env.py: 870]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19462005 -1.27996479 -0.10497455] yaw=-22.1deg	[env.py: 1019]
+05/13 22:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=194.6ms, total=194.6ms	[env.py: 1075]
+05/13 22:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.280, -0.105)	[env.py: 1079]
+05/13 22:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.1 deg	[env.py: 1082]
+05/13 22:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 22:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:17 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:17 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 22:26:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:26:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:26:19 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 22:26:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:19 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:19 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.662[m] 78.959[deg]	[grasp_sample.py: 539]
+05/13 22:26:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:20 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.479[m] 63.554[deg]	[grasp_sample.py: 539]
+05/13 22:26:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:26:20 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:26:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:26:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:22 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 22:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:22 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 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187954m	[env.py: 870]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15311927 -1.04157003 -0.18795412] yaw=-58.4deg	[env.py: 1019]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18521472 -1.1113609  -0.18795412] yaw=-17.7deg	[env.py: 1019]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.4ms, total=259.4ms	[env.py: 1075]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.042, -0.188)	[env.py: 1079]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 22:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:22 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:22 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 22:26:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.687s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:26:24 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:26 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 22:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:26 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 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170349m	[env.py: 870]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50793794 -0.85503503 -0.17034869] yaw=-72.8deg	[env.py: 1019]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36103079 -0.86657749 -0.17034869] yaw=-62.2deg	[env.py: 1019]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=478.1ms, total=478.1ms	[env.py: 1075]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.855, -0.170)	[env.py: 1079]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg	[env.py: 1082]
+05/13 22:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 22:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:27 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:27 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 22:26:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.182s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.699[m] 85.465[deg]	[grasp_sample.py: 539]
+05/13 22:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:26:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:26:30 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 22:26:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:31 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:26:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.479[m] 63.554[deg]	[grasp_sample.py: 539]
+05/13 22:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:26:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:26:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:33 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 22:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:33 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 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102072m	[env.py: 870]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.90092938 -0.69300502 -0.10207236] yaw=-110.4deg	[env.py: 1019]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.8ms	[env.py: 1075]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.901, -0.693, -0.102)	[env.py: 1079]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.4 deg	[env.py: 1082]
+05/13 22:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:33 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:33 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 22:26:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:35 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.796s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:26:35 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:37 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 22:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:37 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 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104054m	[env.py: 870]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81988093 -0.85960767 -0.10405371] yaw=-78.8deg	[env.py: 1019]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms	[env.py: 1075]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.820, -0.860, -0.104)	[env.py: 1079]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg	[env.py: 1082]
+05/13 22:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:37 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:37 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 22:26:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:26:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:26:38 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 22:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:26:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:26:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:26:42 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:26:42 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.61s:
+  episode_total: mean=30.66s, total=61.32s, count=2, min=214.9ms, max=61107.1ms
+  sensor_polling: mean=301.1ms, total=24.09s, count=80, min=279.8ms, max=572.5ms
+  physics_step: mean=16.7ms, total=1.34s, count=80, min=12.1ms, max=19.6ms
+  task_specific_sample: mean=410.3ms, total=820.6ms, count=2, min=209.8ms, max=610.8ms
+  task_sampling: mean=614.2ms, total=614.2ms, count=1, min=614.2ms, max=614.2ms
+  task_sampling_failed: mean=214.8ms, total=214.8ms, count=1, min=214.8ms, max=214.8ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=427.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, 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 22:26:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.943s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.681[m] 82.804[deg]	[grasp_sample.py: 539]
+05/13 22:26:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:26:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:26:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:43 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 22:26:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:43 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 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149507m	[env.py: 870]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28904268 -0.92075736 -0.14950703] yaw=-79.4deg	[env.py: 1019]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45237295 -0.91959164 -0.14950703] yaw=-73.4deg	[env.py: 1019]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.86862718 -0.92001433 -0.14950703] yaw=-108.0deg	[env.py: 1019]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.4ms, total=81.4ms	[env.py: 1075]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -0.921, -0.150)	[env.py: 1079]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg	[env.py: 1082]
+05/13 22:26:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:43 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:43 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 22:26:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:44 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 22:26:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:26:45 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.786s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:26:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:26:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:47 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 22:26:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:47 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 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195817m	[env.py: 870]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36928207 -0.81305569 -0.19581676] yaw=-51.2deg	[env.py: 1019]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.2ms	[env.py: 1075]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -0.813, -0.196)	[env.py: 1079]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg	[env.py: 1082]
+05/13 22:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:47 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:47 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 22:26:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.798s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:26:49 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.10s (batch: 3.69s, save: 8.42s)	[pipeline.py: 300]
+05/13 22:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:50 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 22:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:50 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 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190425m	[env.py: 870]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56584394 -0.75148058 -0.19042464] yaw=-66.1deg	[env.py: 1019]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05553746 -1.3293647  -0.19042464] yaw=-26.0deg	[env.py: 1019]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35077824 -0.93866435 -0.19042464] yaw=-30.2deg	[env.py: 1019]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms	[env.py: 1075]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.751, -0.190)	[env.py: 1079]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg	[env.py: 1082]
+05/13 22:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 22:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.94s:
+  episode_total: mean=137.98s, total=137.98s, count=1, min=137975.3ms, max=137975.3ms
+  sensor_polling: mean=365.2ms, total=90.57s, count=248, min=304.8ms, max=793.8ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8418.0ms, max=8418.0ms
+  physics_step: mean=23.1ms, total=5.73s, count=248, min=18.3ms, max=91.0ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3685.5ms, max=3685.5ms
+  task_sampling: mean=940.0ms, total=940.0ms, count=1, min=940.0ms, max=940.0ms
+  task_specific_sample: mean=935.4ms, total=935.4ms, count=1, min=935.4ms, max=935.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=658.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.1us, 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 22:26:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:51 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:51 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 22:26:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:52 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 22:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:52 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 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100984m	[env.py: 870]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37198263 -1.1673301  -0.10098434] yaw=-19.4deg	[env.py: 1019]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46481766 -0.86975059 -0.10098434] yaw=-58.3deg	[env.py: 1019]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.2ms, total=220.3ms	[env.py: 1075]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -1.167, -0.101)	[env.py: 1079]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.4 deg	[env.py: 1082]
+05/13 22:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/13 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:53 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:53 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 22:26:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:26:56 INFO: [Worker 0] Feasibility-checked 238 grasps in 3.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:56 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.683[m] 85.594[deg]	[grasp_sample.py: 539]
+05/13 22:26:57 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:26:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:26:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:26:59 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 22:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:26:59 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 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101727m	[env.py: 870]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02325352 -1.34345171 -0.101727  ] yaw=-14.9deg	[env.py: 1019]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.3ms, total=188.4ms	[env.py: 1075]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.023, -1.343, -0.102)	[env.py: 1079]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.9 deg	[env.py: 1082]
+05/13 22:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:26:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:26:59 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:26:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:26:59 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 22:26:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:26:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:00 INFO: [Worker 0] Feasible grasp found 136 (originally 136): w/ 0.745[m] 113.263[deg]	[grasp_sample.py: 539]
+05/13 22:27:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:01 INFO: [Worker 0] Feasibility-checked 233 grasps in 1.740s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:27:01 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:27:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:01 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 22:27:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:03 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 22:27:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:03 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 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197344m	[env.py: 870]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.80859742 -0.8002139  -0.19734363] yaw=-93.2deg	[env.py: 1019]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=193.8ms, total=193.9ms	[env.py: 1075]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.809, -0.800, -0.197)	[env.py: 1079]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.2 deg	[env.py: 1082]
+05/13 22:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:03 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:03 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 22:27:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:27:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:27:04 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 22:27:04 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:04 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.653[m] 94.614[deg]	[grasp_sample.py: 539]
+05/13 22:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:27:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:27:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.71s (batch: 3.53s, save: 8.17s)	[pipeline.py: 300]
+05/13 22:27:16 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.88s:
+  episode_total: mean=66.70s, total=133.40s, count=2, min=2457.1ms, max=130941.1ms
+  sensor_polling: mean=304.1ms, total=83.01s, count=273, min=281.1ms, max=589.3ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8174.8ms, max=8174.8ms
+  physics_step: mean=19.7ms, total=5.39s, count=273, min=14.4ms, max=29.0ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3530.8ms, max=3530.8ms
+  task_sampling: mean=441.9ms, total=883.9ms, count=2, min=397.9ms, max=486.0ms
+  task_specific_sample: mean=438.5ms, total=877.0ms, count=2, min=394.7ms, max=482.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=416.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, 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 22:27:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:17 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 22:27:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:17 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 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145623m	[env.py: 870]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02877798 -1.24026371 -0.1456232 ] yaw=-27.8deg	[env.py: 1019]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43669262 -0.95645261 -0.1456232 ] yaw=-41.9deg	[env.py: 1019]
+05/13 22:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.5ms, total=226.5ms	[env.py: 1075]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.029, -1.240, -0.146)	[env.py: 1079]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg	[env.py: 1082]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:18 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:18 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 22:27:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:20 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.608s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:27:20 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:27:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:21 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 22:27:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:21 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 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127846m	[env.py: 870]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=292.9ms, total=292.9ms	[env.py: 1105]
+05/13 22:27:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:27:21 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 22:27:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:23 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 22:27:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:23 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 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158270m	[env.py: 870]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23651793 -1.13797977 -0.15827044] yaw=-13.8deg	[env.py: 1019]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64410281 -0.85834798 -0.15827044] yaw=-91.8deg	[env.py: 1019]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27138067 -1.19220984 -0.15827044] yaw=-51.8deg	[env.py: 1019]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.1ms	[env.py: 1075]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.138, -0.158)	[env.py: 1079]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.8 deg	[env.py: 1082]
+05/13 22:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:23 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:23 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 22:27:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:27 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:27 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.718[m] 79.405[deg]	[grasp_sample.py: 539]
+05/13 22:27:28 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:27:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:30 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 22:27:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:30 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 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197246m	[env.py: 870]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41085467 -1.00998551 -0.19724643] yaw=-35.6deg	[env.py: 1019]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.6ms	[env.py: 1075]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -1.010, -0.197)	[env.py: 1079]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/13 22:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:30 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:30 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 22:27:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:33 INFO: [Worker 0] Feasibility-checked 237 grasps in 2.301s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.651[m] 87.579[deg]	[grasp_sample.py: 539]
+05/13 22:27:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:34 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 22:27:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:27:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:27:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:27:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:27:57 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 22:27:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 204 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:27:59 INFO: [Worker 0] Feasibility-checked 204 grasps in 2.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:59 INFO: [Worker 0] Feasible grasp found 103 (originally 103): w/ 0.017[m] 49.375[deg]	[grasp_sample.py: 539]
+05/13 22:27:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:28:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:28:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:28:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:28:09 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 22:28:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:28:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:30 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:28:43 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:28:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:28:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:28:49 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 22:29:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:29:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:29:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.65s (batch: 4.34s, save: 8.31s)	[pipeline.py: 300]
+05/13 22:29:02 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=3.70s:
+  episode_total: mean=39.41s, total=275.90s, count=7, min=2391.8ms, max=145100.0ms
+  sensor_polling: mean=341.4ms, total=138.29s, count=405, min=278.1ms, max=642.3ms
+  physics_step: mean=22.0ms, total=8.92s, count=405, min=13.5ms, max=30.3ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8311.7ms, max=8311.7ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4337.0ms, max=4337.0ms
+  task_sampling: mean=529.2ms, total=3.70s, count=7, min=455.4ms, max=669.6ms
+  task_specific_sample: mean=525.5ms, total=3.68s, count=7, min=451.7ms, max=667.2ms
+  scene_randomize: mean=1.7ms, total=11.8ms, count=7, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=501.7us, total=3.5ms, count=7, min=0.3ms, max=0.8ms
+  policy_setup: mean=18.2us, total=0.1ms, count=7, 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 22:29:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:29:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:29:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:29:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:04 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 22:29:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:04 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 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176223m	[env.py: 870]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75891285 -0.72625285 -0.17622294] yaw=-65.1deg	[env.py: 1019]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.75321763 -0.68353078 -0.17622294] yaw=-61.4deg	[env.py: 1019]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21576287 -1.13644294 -0.17622294] yaw=-15.9deg	[env.py: 1019]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=479.5ms, total=479.6ms	[env.py: 1075]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.759, -0.726, -0.176)	[env.py: 1079]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:04 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:04 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 22:29:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.723[m] 81.049[deg]	[grasp_sample.py: 539]
+05/13 22:29:08 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:29:08 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:10 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 22:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:10 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 22:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134082m	[env.py: 870]
+05/13 22:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36119128 -0.8185686  -0.13408213] yaw=-40.2deg	[env.py: 1019]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=378.7ms, total=378.8ms	[env.py: 1075]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.819, -0.134)	[env.py: 1079]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg	[env.py: 1082]
+05/13 22:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 22:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:11 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:11 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 22:29:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:13 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.945s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:29:13 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:15 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 22:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:15 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 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164849m	[env.py: 870]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06420346 -1.33453454 -0.16484863] yaw=-8.8deg	[env.py: 1019]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21857784 -1.15296494 -0.16484863] yaw=-66.3deg	[env.py: 1019]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55235774 -0.81404154 -0.16484863] yaw=-67.5deg	[env.py: 1019]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.8ms, total=118.8ms	[env.py: 1075]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.064, -1.335, -0.165)	[env.py: 1079]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.8 deg	[env.py: 1082]
+05/13 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:15 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:15 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 22:29:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:29:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:29:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.98s (batch: 3.75s, save: 9.23s)	[pipeline.py: 300]
+05/13 22:29:17 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
+  episode_total: mean=50.37s, total=151.10s, count=3, min=2226.5ms, max=146575.9ms
+  sensor_polling: mean=304.6ms, total=91.37s, count=300, min=278.6ms, max=725.3ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9234.7ms, max=9234.7ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.2ms, max=31.3ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3747.1ms, max=3747.1ms
+  task_sampling: mean=343.7ms, total=1.03s, count=3, min=296.5ms, max=380.8ms
+  task_specific_sample: mean=340.9ms, total=1.02s, count=3, min=294.0ms, max=377.9ms
+  scene_randomize: mean=1.3ms, total=4.0ms, count=3, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=394.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=11.3us, 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 22:29:17 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.939s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:29:17 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:29:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:18 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 22:29:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:18 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 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113018m	[env.py: 870]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.85338704 -0.73719655 -0.11301778] yaw=-87.4deg	[env.py: 1019]
+05/13 22:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.6ms, total=246.6ms	[env.py: 1075]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.853, -0.737, -0.113)	[env.py: 1079]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.4 deg	[env.py: 1082]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:19 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:19 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 22:29:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:19 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 22:29:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:19 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 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169307m	[env.py: 870]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47539851 -0.84253597 -0.16930661] yaw=-73.3deg	[env.py: 1019]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58250659 -0.77637615 -0.16930661] yaw=-42.2deg	[env.py: 1019]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19816451 -1.23639867 -0.16930661] yaw=-46.4deg	[env.py: 1019]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms	[env.py: 1075]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.843, -0.169)	[env.py: 1079]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg	[env.py: 1082]
+05/13 22:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 22:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:20 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:20 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 22:29:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:23 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.134s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.700[m] 93.923[deg]	[grasp_sample.py: 539]
+05/13 22:29:24 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:29:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:26 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 22:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:26 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 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146771m	[env.py: 870]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64046851 -0.98728533 -0.14677115] yaw=-41.2deg	[env.py: 1019]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90120803 -0.82611042 -0.14677115] yaw=-87.8deg	[env.py: 1019]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87758676 -0.6531097  -0.14677115] yaw=-89.4deg	[env.py: 1019]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.6ms	[env.py: 1075]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.640, -0.987, -0.147)	[env.py: 1079]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/13 22:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:26 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:26 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 22:29:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:28 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.754[m] 93.782[deg]	[grasp_sample.py: 539]
+05/13 22:29:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:29:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:29:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:29:29 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:29:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:30 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 22:29:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:30 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 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111162m	[env.py: 870]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59491425 -0.81716704 -0.11116172] yaw=-48.2deg	[env.py: 1019]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.6ms	[env.py: 1075]
+05/13 22:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.817, -0.111)	[env.py: 1079]
+05/13 22:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/13 22:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/13 22:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:31 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:31 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 22:29:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.155s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:31 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.631[m] 83.148[deg]	[grasp_sample.py: 539]
+05/13 22:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:29:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:29:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:32 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 22:29:37 INFO: [Worker 0] Feasibility-checked 240 grasps in 6.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:37 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.749[m] 82.187[deg]	[grasp_sample.py: 539]
+05/13 22:29:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:29:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:29:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:38 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 22:29:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:29:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:29:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.15s (batch: 4.18s, save: 7.97s)	[pipeline.py: 300]
+05/13 22:29:42 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.31s:
+  episode_total: mean=35.16s, total=140.63s, count=4, min=305.6ms, max=132345.8ms
+  sensor_polling: mean=304.9ms, total=81.71s, count=268, min=273.0ms, max=648.1ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7967.9ms, max=7967.9ms
+  physics_step: mean=19.7ms, total=5.27s, count=268, min=13.7ms, max=32.0ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.7ms, max=4182.7ms
+  task_specific_sample: mean=400.0ms, total=1.60s, count=4, min=297.9ms, max=466.2ms
+  task_sampling: mean=437.3ms, total=1.31s, count=3, min=409.7ms, max=470.0ms
+  task_sampling_failed: mean=305.6ms, total=305.6ms, count=1, min=305.6ms, max=305.6ms
+  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=415.8us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.4us, 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 22:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:43 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 22:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:43 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 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124194m	[env.py: 870]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15083599 -1.16586705 -0.12419445] yaw=-56.4deg	[env.py: 1019]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.87158303 -0.67273838 -0.12419445] yaw=-88.9deg	[env.py: 1019]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4811012  -0.93691484 -0.12419445] yaw=-46.5deg	[env.py: 1019]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.5ms	[env.py: 1075]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.166, -0.124)	[env.py: 1079]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/13 22:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:44 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:44 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 22:29:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.955s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:29:46 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:29:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:47 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 22:29:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:47 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 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101283m	[env.py: 870]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12299252 -1.21827033 -0.1012833 ] yaw=-36.2deg	[env.py: 1019]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31539883 -1.01021936 -0.1012833 ] yaw=-31.1deg	[env.py: 1019]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.7ms	[env.py: 1075]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.123, -1.218, -0.101)	[env.py: 1079]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.2 deg	[env.py: 1082]
+05/13 22:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:48 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 22:29:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:50 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.983s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:29:50 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:29:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:51 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 22:29:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:51 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 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155413m	[env.py: 870]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=429.5ms, total=429.5ms	[env.py: 1105]
+05/13 22:29:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:29:51 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:29:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:53 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 22:29:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:53 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 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101643m	[env.py: 870]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25560778 -1.30925228 -0.1016433 ] yaw=-7.8deg	[env.py: 1019]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25544426 -0.97146379 -0.1016433 ] yaw=-53.3deg	[env.py: 1019]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28774484 -1.07134581 -0.1016433 ] yaw=-32.6deg	[env.py: 1019]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=124.1ms, total=124.2ms	[env.py: 1075]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.309, -0.102)	[env.py: 1079]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.8 deg	[env.py: 1082]
+05/13 22:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:53 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:53 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 22:29:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:56 INFO: [Worker 0] Feasibility-checked 231 grasps in 3.163s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:56 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.647[m] 79.270[deg]	[grasp_sample.py: 539]
+05/13 22:29:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:29:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:29:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:30:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:31:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 182.078s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:12 INFO: [Worker 0] Feasible grasp found 82 (originally 82): w/ 0.082[m] 118.740[deg]	[grasp_sample.py: 539]
+05/13 22:31:12 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:31:13 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:14 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 22:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:14 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 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119431m	[env.py: 870]
+05/13 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.78609867 -0.83262354 -0.11943052] yaw=-93.9deg	[env.py: 1019]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40000737 -0.8622722  -0.11943052] yaw=-34.1deg	[env.py: 1019]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11123437 -1.06121297 -0.11943052] yaw=-48.0deg	[env.py: 1019]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=249.3ms, total=249.3ms	[env.py: 1075]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.786, -0.833, -0.119)	[env.py: 1079]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.9 deg	[env.py: 1082]
+05/13 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/13 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:15 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:15 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 22:31:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:16 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.830s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:16 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.712[m] 103.771[deg]	[grasp_sample.py: 539]
+05/13 22:31:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:31:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:31:33 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/13 22:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:31:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:31:36 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:31:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:31:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:31:41 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 22:31:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:43 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:43 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.590[m] 79.848[deg]	[grasp_sample.py: 539]
+05/13 22:31:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:31:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:31:44 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:31:44 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:31:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:31:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:31:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.43s (batch: 3.79s, save: 8.65s)	[pipeline.py: 300]
+05/13 22:31:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:46 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 22:31:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:46 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 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192142m	[env.py: 870]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.93s:
+  episode_total: mean=73.26s, total=146.52s, count=2, min=10849.8ms, max=135668.4ms
+  sensor_polling: mean=298.3ms, total=85.32s, count=286, min=273.6ms, max=559.6ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8647.2ms, max=8647.2ms
+  physics_step: mean=19.3ms, total=5.51s, count=286, min=13.6ms, max=32.6ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.0ms, max=3785.0ms
+  task_sampling: mean=464.8ms, total=929.6ms, count=2, min=431.9ms, max=497.7ms
+  task_specific_sample: mean=461.5ms, total=922.9ms, count=2, min=429.0ms, max=493.9ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=420.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.3us, 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 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57591262 -0.9922379  -0.1921423 ] yaw=-83.3deg	[env.py: 1019]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21073228 -1.02686415 -0.1921423 ] yaw=-19.8deg	[env.py: 1019]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.1ms, total=233.1ms	[env.py: 1075]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.992, -0.192)	[env.py: 1079]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.3 deg	[env.py: 1082]
+05/13 22:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:46 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:46 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 22:31:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:47 INFO: [Worker 0] Feasibility-checked 247 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:47 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.598[m] 93.852[deg]	[grasp_sample.py: 539]
+05/13 22:31:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:47 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 22:31:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:47 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 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125038m	[env.py: 870]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09102058 -1.37429187 -0.12503824] yaw=-6.0deg	[env.py: 1019]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.374, -0.125)	[env.py: 1079]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.0 deg	[env.py: 1082]
+05/13 22:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:31:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:31:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.00s (batch: 3.77s, save: 8.22s)	[pipeline.py: 300]
+05/13 22:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:48 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:48 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 22:31:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:48 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=2.45s:
+  episode_total: mean=31.47s, total=157.34s, count=5, min=2433.2ms, max=142715.0ms
+  sensor_polling: mean=343.9ms, total=90.78s, count=264, min=279.5ms, max=679.1ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8224.4ms, max=8224.4ms
+  physics_step: mean=22.3ms, total=5.88s, count=264, min=13.9ms, max=33.5ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3770.8ms, max=3770.8ms
+  task_sampling: mean=489.4ms, total=2.45s, count=5, min=332.7ms, max=747.9ms
+  task_specific_sample: mean=485.9ms, total=2.43s, count=5, min=330.3ms, max=744.2ms
+  scene_randomize: mean=1.6ms, total=8.0ms, count=5, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=379.3us, total=1.9ms, count=5, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.0us, 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 22:31:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:50 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 22:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:50 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 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149421m	[env.py: 870]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62515042 -0.96737002 -0.14942058] yaw=-68.0deg	[env.py: 1019]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms	[env.py: 1075]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.967, -0.149)	[env.py: 1079]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg	[env.py: 1082]
+05/13 22:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:50 INFO: [Worker 0] Feasibility-checked 225 grasps in 2.253s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:50 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.686[m] 93.046[deg]	[grasp_sample.py: 539]
+05/13 22:31:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:50 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:50 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 22:31:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:51 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:31:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.913s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.591[m] 86.880[deg]	[grasp_sample.py: 539]
+05/13 22:31:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:31:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:52 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 22:31:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:52 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 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134764m	[env.py: 870]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.8ms, total=224.9ms	[env.py: 1105]
+05/13 22:31:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:31:53 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:31:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:54 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 22:31:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:54 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 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121495m	[env.py: 870]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47616384 -1.01297726 -0.12149465] yaw=-74.2deg	[env.py: 1019]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55972032 -0.71884291 -0.12149465] yaw=-72.2deg	[env.py: 1019]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.0ms, total=227.0ms	[env.py: 1075]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -1.013, -0.121)	[env.py: 1079]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.2 deg	[env.py: 1082]
+05/13 22:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:54 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:54 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 22:31:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.760s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:55 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.698[m] 83.526[deg]	[grasp_sample.py: 539]
+05/13 22:31:56 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:31:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:57 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 22:31:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:57 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 22:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162191m	[env.py: 870]
+05/13 22:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1931707  -0.94812028 -0.16219083] yaw=-54.4deg	[env.py: 1019]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45423656 -0.84446365 -0.16219083] yaw=-83.1deg	[env.py: 1019]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48195117 -0.96309515 -0.16219083] yaw=-42.7deg	[env.py: 1019]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.9ms, total=288.9ms	[env.py: 1075]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -0.948, -0.162)	[env.py: 1079]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 22:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:58 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:58 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 22:31:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.138s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:32:00 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:32:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:32:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:32:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.14s (batch: 6.53s, save: 9.61s)	[pipeline.py: 300]
+05/13 22:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:01 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 22:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:01 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 22:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108957m	[env.py: 870]
+05/13 22:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29855757 -0.96313454 -0.1089571 ] yaw=-23.4deg	[env.py: 1019]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34833388 -1.15875819 -0.1089571 ] yaw=-40.0deg	[env.py: 1019]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07676183 -1.31705811 -0.1089571 ] yaw=-7.7deg	[env.py: 1019]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms	[env.py: 1075]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.963, -0.109)	[env.py: 1079]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.4 deg	[env.py: 1082]
+05/13 22:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 22:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.30s:
+  episode_total: mean=33.68s, total=134.70s, count=4, min=440.1ms, max=129023.4ms
+  sensor_polling: mean=302.2ms, total=80.40s, count=266, min=279.2ms, max=543.3ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9610.4ms, max=9610.4ms
+  save_batch_prep: mean=6.53s, total=6.53s, count=1, min=6530.9ms, max=6530.9ms
+  physics_step: mean=19.5ms, total=5.19s, count=266, min=14.4ms, max=33.4ms
+  task_specific_sample: mean=430.1ms, total=1.72s, count=4, min=378.0ms, max=483.0ms
+  task_sampling: mean=431.8ms, total=1.30s, count=3, min=380.4ms, max=486.8ms
+  task_sampling_failed: mean=440.1ms, total=440.1ms, count=1, min=440.1ms, max=440.1ms
+  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=422.3us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, 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 22:32:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:02 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:02 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 22:32:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:04 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.013s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:04 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.783[m] 95.355[deg]	[grasp_sample.py: 539]
+05/13 22:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:04 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 22:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:04 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 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161174m	[env.py: 870]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.1ms, total=240.2ms	[env.py: 1105]
+05/13 22:32:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:32:04 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:32:05 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:32:05 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 22:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:06 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 22:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:06 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 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142205m	[env.py: 870]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:07 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 22:32:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:07 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 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161349m	[env.py: 870]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.4ms, total=302.4ms	[env.py: 1105]
+05/13 22:32:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:32:07 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 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25588063 -1.04777039 -0.16134886] yaw=-50.1deg	[env.py: 1019]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.4ms	[env.py: 1075]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.048, -0.161)	[env.py: 1079]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg	[env.py: 1082]
+05/13 22:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:07 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.196s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:07 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 22:32:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:08 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 22:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:08 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 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120185m	[env.py: 870]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64979452 -0.78175192 -0.12018532] yaw=-70.9deg	[env.py: 1019]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10255641 -1.33601856 -0.12018532] yaw=-30.4deg	[env.py: 1019]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4476657  -0.93433017 -0.12018532] yaw=-65.1deg	[env.py: 1019]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=184.0ms	[env.py: 1075]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.782, -0.120)	[env.py: 1079]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg	[env.py: 1082]
+05/13 22:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:08 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:08 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 22:32:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.722[m] 76.848[deg]	[grasp_sample.py: 539]
+05/13 22:32:12 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:13 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 22:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:13 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 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129311m	[env.py: 870]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.69556746 -0.72747219 -0.12931071] yaw=-60.0deg	[env.py: 1019]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86826788 -0.87280727 -0.12931071] yaw=-80.6deg	[env.py: 1019]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.0ms	[env.py: 1075]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.696, -0.727, -0.129)	[env.py: 1079]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/13 22:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:14 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:14 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 22:32:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:15 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.707[m] 85.792[deg]	[grasp_sample.py: 539]
+05/13 22:32:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.946s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:32:16 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:32:16 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:17 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 22:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:17 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 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125398m	[env.py: 870]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74759256 -0.84547474 -0.1253982 ] yaw=-49.7deg	[env.py: 1019]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1068317  -1.09757806 -0.1253982 ] yaw=-55.1deg	[env.py: 1019]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.9ms, total=309.0ms	[env.py: 1075]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.748, -0.845, -0.125)	[env.py: 1079]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/13 22:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:17 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:17 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 22:32:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:19 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 22:32:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:19 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 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158524m	[env.py: 870]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29499665 -1.25279592 -0.15852423] yaw=-22.3deg	[env.py: 1019]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=557.3ms, total=557.4ms	[env.py: 1075]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.253, -0.159)	[env.py: 1079]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.3 deg	[env.py: 1082]
+05/13 22:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:20 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:20 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 22:32:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.718[m] 85.779[deg]	[grasp_sample.py: 539]
+05/13 22:32:22 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:32:22 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:22 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.609[m] 88.596[deg]	[grasp_sample.py: 539]
+05/13 22:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:32:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:32:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:23 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 22:32:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:23 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 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133999m	[env.py: 870]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88124835 -0.67341623 -0.13399892] yaw=-77.7deg	[env.py: 1019]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.4ms	[env.py: 1075]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.881, -0.673, -0.134)	[env.py: 1079]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg	[env.py: 1082]
+05/13 22:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:24 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:24 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 22:32:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:24 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 22:32:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.771s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:32:25 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:27 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 22:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:27 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 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144325m	[env.py: 870]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70953826 -0.80765507 -0.14432465] yaw=-72.5deg	[env.py: 1019]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81504282 -0.7201755  -0.14432465] yaw=-70.1deg	[env.py: 1019]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms	[env.py: 1075]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.710, -0.808, -0.144)	[env.py: 1079]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg	[env.py: 1082]
+05/13 22:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:27 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:27 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 22:32:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:36 INFO: [Worker 0] Feasibility-checked 246 grasps in 8.421s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:36 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.698[m] 95.439[deg]	[grasp_sample.py: 539]
+05/13 22:32:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:37 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:38 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 22:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:38 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 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104181m	[env.py: 870]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82106387 -0.68683656 -0.10418056] yaw=-73.0deg	[env.py: 1019]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41134788 -1.13624052 -0.10418056] yaw=-25.7deg	[env.py: 1019]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39568279 -0.97520949 -0.10418056] yaw=-80.5deg	[env.py: 1019]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.2ms, total=82.3ms	[env.py: 1075]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.821, -0.687, -0.104)	[env.py: 1079]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg	[env.py: 1082]
+05/13 22:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:38 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:38 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 22:32:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.831s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:32:40 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:32:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:41 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 22:32:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:41 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 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189604m	[env.py: 870]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57440007 -0.77844134 -0.18960446] yaw=-74.7deg	[env.py: 1019]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05931999 -1.3493029  -0.18960446] yaw=4.5deg	[env.py: 1019]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.2ms, total=265.2ms	[env.py: 1075]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.778, -0.190)	[env.py: 1079]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg	[env.py: 1082]
+05/13 22:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 22:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:42 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:42 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 22:32:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:45 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:45 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.766[m] 99.472[deg]	[grasp_sample.py: 539]
+05/13 22:32:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:32:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:32:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:46 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 22:32:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:32:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:33:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:38 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:33:39 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:33:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:33:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:33:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:33:58 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 22:33:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:33:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:33:59 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 22:34:01 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:34:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:34:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.28s (batch: 4.34s, save: 7.94s)	[pipeline.py: 300]
+05/13 22:34:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=2.27s:
+  episode_total: mean=86.43s, total=432.15s, count=5, min=2360.2ms, max=250204.9ms
+  sensor_polling: mean=387.4ms, total=163.86s, count=423, min=298.7ms, max=732.1ms
+  physics_step: mean=23.9ms, total=10.12s, count=423, min=14.2ms, max=70.5ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7939.2ms, max=7939.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.3ms, max=4338.3ms
+  task_sampling: mean=454.9ms, total=2.27s, count=5, min=402.5ms, max=525.0ms
+  task_specific_sample: mean=450.7ms, total=2.25s, count=5, min=399.3ms, max=520.0ms
+  scene_randomize: mean=2.0ms, total=9.9ms, count=5, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=407.0us, total=2.0ms, count=5, min=0.3ms, max=0.6ms
+  policy_setup: mean=15.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:34:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:34:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.72s (batch: 3.63s, save: 8.09s)	[pipeline.py: 300]
+05/13 22:34:12 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.51s:
+  episode_total: mean=141.83s, total=141.83s, count=1, min=141829.3ms, max=141829.3ms
+  sensor_polling: mean=386.3ms, total=97.73s, count=253, min=289.2ms, max=700.7ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8090.8ms, max=8090.8ms
+  physics_step: mean=24.1ms, total=6.10s, count=253, min=13.8ms, max=86.7ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3630.1ms, max=3630.1ms
+  task_sampling: mean=508.8ms, total=508.8ms, count=1, min=508.8ms, max=508.8ms
+  task_specific_sample: mean=504.9ms, total=504.9ms, count=1, min=504.9ms, max=504.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=402.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, 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 22:34:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:12 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 22:34:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199460m	[env.py: 870]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13567567 -1.11698271 -0.19946015] yaw=-61.0deg	[env.py: 1019]
+05/13 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81337101 -0.90616065 -0.19946015] yaw=-74.1deg	[env.py: 1019]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.1ms	[env.py: 1075]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.117, -0.199)	[env.py: 1079]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:13 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:13 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 22:34:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:13 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 22:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:13 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 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123989m	[env.py: 870]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46119271 -1.00399085 -0.12398899] yaw=-55.0deg	[env.py: 1019]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42431801 -0.97024255 -0.12398899] yaw=-68.4deg	[env.py: 1019]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23351959 -1.14130244 -0.12398899] yaw=-43.8deg	[env.py: 1019]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.3ms	[env.py: 1075]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -1.004, -0.124)	[env.py: 1079]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg	[env.py: 1082]
+05/13 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:14 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:14 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 22:34:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.094s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:15 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:15 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.638[m] 91.144[deg]	[grasp_sample.py: 539]
+05/13 22:34:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:34:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:34:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:16 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 22:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:17 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 22:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:17 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 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188637m	[env.py: 870]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03796756 -1.36389629 -0.18863749] yaw=-33.7deg	[env.py: 1019]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60665443 -0.75937987 -0.18863749] yaw=-57.3deg	[env.py: 1019]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.91656117 -0.7488287  -0.18863749] yaw=-100.0deg	[env.py: 1019]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.7ms, total=82.8ms	[env.py: 1075]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -1.364, -0.189)	[env.py: 1079]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.7 deg	[env.py: 1082]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:17 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:17 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 22:34:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:19 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.881s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:19 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:19 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 22:34:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:21 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 22:34:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:21 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 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100624m	[env.py: 870]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59664968 -0.90631087 -0.100624  ] yaw=-71.9deg	[env.py: 1019]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73396638 -0.79944987 -0.100624  ] yaw=-55.8deg	[env.py: 1019]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.78842031 -0.77206418 -0.100624  ] yaw=-104.4deg	[env.py: 1019]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.906, -0.101)	[env.py: 1079]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg	[env.py: 1082]
+05/13 22:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:22 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:22 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 22:34:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:34:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:34:22 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:34:24 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:34:29 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:29 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.686[m] 97.023[deg]	[grasp_sample.py: 539]
+05/13 22:34:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:34:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:34:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:30 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 22:34:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:34:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.96s (batch: 6.01s, save: 8.95s)	[pipeline.py: 300]
+05/13 22:34:38 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.51s:
+  episode_total: mean=49.72s, total=149.17s, count=3, min=256.7ms, max=139137.6ms
+  sensor_polling: mean=351.2ms, total=90.60s, count=258, min=284.5ms, max=708.1ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8952.0ms, max=8952.0ms
+  save_batch_prep: mean=6.01s, total=6.01s, count=1, min=6005.5ms, max=6005.5ms
+  physics_step: mean=21.9ms, total=5.66s, count=258, min=18.4ms, max=39.7ms
+  task_specific_sample: mean=583.9ms, total=1.75s, count=3, min=248.6ms, max=818.4ms
+  task_sampling: mean=756.7ms, total=1.51s, count=2, min=689.7ms, max=823.8ms
+  task_sampling_failed: mean=256.6ms, total=256.6ms, count=1, min=256.6ms, max=256.6ms
+  scene_randomize: mean=3.5ms, total=10.4ms, count=3, min=1.4ms, max=6.0ms
+  mj_forward_sync: mean=611.8us, total=1.8ms, count=3, min=0.5ms, max=0.7ms
+  policy_setup: mean=21.8us, 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 22:34:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:40 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 22:34:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:40 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 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116744m	[env.py: 870]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74348181 -0.82256935 -0.11674369] yaw=-95.2deg	[env.py: 1019]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=273.8ms, total=273.9ms	[env.py: 1075]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.743, -0.823, -0.117)	[env.py: 1079]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.2 deg	[env.py: 1082]
+05/13 22:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:41 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:41 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 22:34:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:42 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.573s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:42 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.707[m] 89.669[deg]	[grasp_sample.py: 539]
+05/13 22:34:43 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:34:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:34:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:34:44 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/13 22:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:45 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 22:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:45 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 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116450m	[env.py: 870]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33461158 -0.93309571 -0.11645042] yaw=-41.6deg	[env.py: 1019]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11930872 -1.21646027 -0.11645042] yaw=-50.0deg	[env.py: 1019]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.8ms, total=408.9ms	[env.py: 1075]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.933, -0.116)	[env.py: 1079]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg	[env.py: 1082]
+05/13 22:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:46 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:46 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 22:34:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:50 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.729[m] 90.515[deg]	[grasp_sample.py: 539]
+05/13 22:34:52 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:54 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 22:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:54 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 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151140m	[env.py: 870]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.76349937 -0.7592655  -0.15114022] yaw=-100.6deg	[env.py: 1019]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46150917 -0.90865835 -0.15114022] yaw=-72.1deg	[env.py: 1019]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39174317 -1.00200058 -0.15114022] yaw=-76.1deg	[env.py: 1019]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=326.6ms, total=326.6ms	[env.py: 1075]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.763, -0.759, -0.151)	[env.py: 1079]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.6 deg	[env.py: 1082]
+05/13 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:54 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:55 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 22:34:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:34:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.00s (batch: 3.58s, save: 8.42s)	[pipeline.py: 300]
+05/13 22:34:57 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=4.62s:
+  episode_total: mean=13.45s, total=174.88s, count=13, min=233.7ms, max=135551.3ms
+  sensor_polling: mean=319.3ms, total=91.01s, count=285, min=285.7ms, max=748.0ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.5ms, max=8422.5ms
+  physics_step: mean=20.3ms, total=5.78s, count=285, min=13.9ms, max=31.9ms
+  task_specific_sample: mean=394.8ms, total=5.13s, count=13, min=229.4ms, max=506.5ms
+  task_sampling: mean=420.2ms, total=4.62s, count=11, min=286.4ms, max=508.9ms
+  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3578.1ms, max=3578.1ms
+  task_sampling_failed: mean=271.8ms, total=543.6ms, count=2, min=233.7ms, max=309.9ms
+  scene_randomize: mean=1.2ms, total=15.3ms, count=13, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=389.1us, total=5.1ms, count=13, min=0.3ms, max=0.4ms
+  policy_setup: mean=11.6us, total=0.1ms, count=11, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:34:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:58 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 22:34:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:58 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 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145938m	[env.py: 870]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69733145 -0.71659302 -0.14593795] yaw=-103.0deg	[env.py: 1019]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.7ms, total=218.7ms	[env.py: 1075]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.697, -0.717, -0.146)	[env.py: 1079]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.0 deg	[env.py: 1082]
+05/13 22:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 22:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:59 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:59 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 22:34:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.034s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:35:01 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:02 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 22:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:02 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 22:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189058m	[env.py: 870]
+05/13 22:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=553.3ms, total=553.4ms	[env.py: 1105]
+05/13 22:35:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:35:03 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 22:35:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:04 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 22:35:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:04 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 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187156m	[env.py: 870]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2240535  -1.08480046 -0.18715593] yaw=-33.0deg	[env.py: 1019]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89358712 -0.90893834 -0.18715593] yaw=-75.5deg	[env.py: 1019]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38595315 -0.96258238 -0.18715593] yaw=-51.3deg	[env.py: 1019]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.1ms	[env.py: 1075]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.085, -0.187)	[env.py: 1079]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg	[env.py: 1082]
+05/13 22:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:04 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:05 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 22:35:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:06 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.667[m] 78.361[deg]	[grasp_sample.py: 539]
+05/13 22:35:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:07 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 22:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:11 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 22:35:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:12 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.119[m] 10.939[deg]	[grasp_sample.py: 539]
+05/13 22:35:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:13 INFO: [Worker 0] Feasibility-checked 246 grasps in 18.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:13 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.773[m] 98.822[deg]	[grasp_sample.py: 539]
+05/13 22:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:14 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:17 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 22:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:17 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 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102921m	[env.py: 870]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21345904 -1.08669364 -0.10292067] yaw=-24.7deg	[env.py: 1019]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=457.5ms, total=457.6ms	[env.py: 1075]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.087, -0.103)	[env.py: 1079]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.7 deg	[env.py: 1082]
+05/13 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:17 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:17 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 22:35:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:23 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 22:35:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.119[m] 10.936[deg]	[grasp_sample.py: 539]
+05/13 22:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:29 INFO: [Worker 0] Feasibility-checked 236 grasps in 11.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:35:29 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: unsupported operand type(s) for %: 'NoneType' and 'int'	[task_sampler.py: 396]
+05/13 22:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:31 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 22:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:31 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 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124602m	[env.py: 870]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50891896 -0.98791311 -0.12460236] yaw=-44.1deg	[env.py: 1019]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=666.0ms, total=666.1ms	[env.py: 1075]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.988, -0.125)	[env.py: 1079]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/13 22:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 22:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:32 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:32 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 22:35:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:33 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.673[m] 75.347[deg]	[grasp_sample.py: 539]
+05/13 22:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:34 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 22:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:37 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 22:35:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:37 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.119[m] 10.936[deg]	[grasp_sample.py: 539]
+05/13 22:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:49 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:35:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:49 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 22:35:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:49 INFO: [Worker 0] Feasibility-checked 227 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:49 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.487[m] 71.530[deg]	[grasp_sample.py: 539]
+05/13 22:35:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:49 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:35:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:50 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:35:50 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=0.48s:
+  episode_total: mean=96.63s, total=96.63s, count=1, min=96633.5ms, max=96633.5ms
+  sensor_polling: mean=365.9ms, total=53.05s, count=145, min=282.3ms, max=747.4ms
+  physics_step: mean=20.6ms, total=2.98s, count=145, min=12.2ms, max=30.9ms
+  task_sampling: mean=475.9ms, total=475.9ms, count=1, min=475.9ms, max=475.9ms
+  task_specific_sample: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=381.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.9us, 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 22:35:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:50 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 22:35:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:51 INFO: [Worker 0] Feasibility-checked 228 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:51 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.365[m] 46.641[deg]	[grasp_sample.py: 539]
+05/13 22:35:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:51 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 22:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:51 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 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114737m	[env.py: 870]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=384.0ms, total=384.0ms	[env.py: 1105]
+05/13 22:35:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:35:52 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:53 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 22:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:53 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 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129741m	[env.py: 870]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27906379 -1.27445368 -0.12974078] yaw=-17.4deg	[env.py: 1019]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25830437 -1.10020067 -0.12974078] yaw=-29.5deg	[env.py: 1019]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=348.2ms, total=348.2ms	[env.py: 1075]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.274, -0.130)	[env.py: 1079]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.4 deg	[env.py: 1082]
+05/13 22:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/13 22:35:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:54 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:54 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 22:35:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:35:56 INFO: [Worker 0] Feasibility-checked 237 grasps in 1.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:56 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.639[m] 84.104[deg]	[grasp_sample.py: 539]
+05/13 22:35:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:35:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:01 INFO: [Worker 0] Object is not in grasp! 0.00096 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:36:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:36:01 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 22:36:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 106 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:03 INFO: [Worker 0] Feasibility-checked 106 grasps in 1.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:36:03 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.043[m] 3.112[deg]	[grasp_sample.py: 539]
+05/13 22:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:36:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:36:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:36:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:45 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:36:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:36:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:36:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:37:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:37:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:37:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:37:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:37:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:37:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:37:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:37:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.87s (batch: 3.74s, save: 9.13s)	[pipeline.py: 300]
+05/13 22:37:21 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.82s:
+  episode_total: mean=46.80s, total=140.39s, count=3, min=564.0ms, max=137150.7ms
+  sensor_polling: mean=296.5ms, total=88.96s, count=300, min=281.0ms, max=599.4ms
+  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9126.9ms, max=9126.9ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=13.6ms, max=29.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
+  task_specific_sample: mean=456.3ms, total=1.37s, count=3, min=347.3ms, max=558.1ms
+  task_sampling: mean=408.3ms, total=816.7ms, count=2, min=349.6ms, max=467.1ms
+  task_sampling_failed: mean=563.9ms, total=563.9ms, count=1, min=563.9ms, max=563.9ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=409.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, 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 22:37:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:23 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 22:37:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:23 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 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196566m	[env.py: 870]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52503176 -0.99017901 -0.19656624] yaw=-70.2deg	[env.py: 1019]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28369387 -0.95467282 -0.19656624] yaw=-37.4deg	[env.py: 1019]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.7ms	[env.py: 1075]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.990, -0.197)	[env.py: 1079]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/13 22:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:23 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:23 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 22:37:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:37:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.556[m] 83.859[deg]	[grasp_sample.py: 539]
+05/13 22:37:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:37:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:37:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:30 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:37:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:37:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:37:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.27s (batch: 4.36s, save: 10.91s)	[pipeline.py: 300]
+05/13 22:37:35 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.22s:
+  episode_total: mean=66.31s, total=198.93s, count=3, min=2364.9ms, max=193796.5ms
+  sensor_polling: mean=399.8ms, total=119.93s, count=300, min=303.9ms, max=704.9ms
+  save_trajectories: mean=10.91s, total=10.91s, count=1, min=10907.6ms, max=10907.6ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.3ms, max=82.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.2ms, max=4364.2ms
+  task_sampling: mean=407.9ms, total=1.22s, count=3, min=301.8ms, max=466.2ms
+  task_specific_sample: mean=404.5ms, total=1.21s, count=3, min=298.8ms, max=462.7ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=419.0us, total=1.3ms, count=3, min=0.3ms, max=0.5ms
+  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 22:37:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:37 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 22:37:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:37 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 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163855m	[env.py: 870]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23823769 -1.09182181 -0.16385547] yaw=-29.6deg	[env.py: 1019]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=281.8ms, total=281.9ms	[env.py: 1075]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.092, -0.164)	[env.py: 1079]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg	[env.py: 1082]
+05/13 22:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:37 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 22:37:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:42 INFO: [Worker 0] Feasibility-checked 239 grasps in 4.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:37:42 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.687[m] 72.134[deg]	[grasp_sample.py: 539]
+05/13 22:37:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:37:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:37:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:43 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 22:37:44 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:37:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:37:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:37:52 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 22:38:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:38:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:38:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.63s (batch: 5.29s, save: 8.34s)	[pipeline.py: 300]
+05/13 22:38:06 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=3.61s:
+  episode_total: mean=39.48s, total=197.38s, count=5, min=2468.3ms, max=155350.8ms
+  sensor_polling: mean=387.0ms, total=104.48s, count=270, min=292.9ms, max=716.8ms
+  save_trajectories: mean=8.34s, total=8.34s, count=1, min=8338.7ms, max=8338.7ms
+  physics_step: mean=24.3ms, total=6.55s, count=270, min=14.2ms, max=42.0ms
+  save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5293.1ms, max=5293.1ms
+  task_sampling: mean=722.6ms, total=3.61s, count=5, min=576.1ms, max=979.0ms
+  task_specific_sample: mean=717.7ms, total=3.59s, count=5, min=572.5ms, max=974.6ms
+  scene_randomize: mean=2.7ms, total=13.6ms, count=5, min=1.4ms, max=5.6ms
+  mj_forward_sync: mean=560.8us, total=2.8ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.4us, 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 22:38:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:38:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:38:07 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:38:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:08 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 22:38:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:08 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 22:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157241m	[env.py: 870]
+05/13 22:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31033349 -1.17215872 -0.15724107] yaw=-48.0deg	[env.py: 1019]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2569333  -1.2860404  -0.15724107] yaw=-12.1deg	[env.py: 1019]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32630216 -1.19622304 -0.15724107] yaw=-43.7deg	[env.py: 1019]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.0ms	[env.py: 1075]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.172, -0.157)	[env.py: 1079]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:09 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:09 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 22:38:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:38:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:11 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.627[m] 91.121[deg]	[grasp_sample.py: 539]
+05/13 22:38:12 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:38:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:14 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 22:38:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:14 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 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113863m	[env.py: 870]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22355054 -1.1370399  -0.11386349] yaw=-32.2deg	[env.py: 1019]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.78987829 -0.93938276 -0.11386349] yaw=-69.7deg	[env.py: 1019]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.77317387 -0.74269353 -0.11386349] yaw=-84.6deg	[env.py: 1019]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.5ms	[env.py: 1075]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.137, -0.114)	[env.py: 1079]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.2 deg	[env.py: 1082]
+05/13 22:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:15 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:15 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 22:38:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.741[m] 80.875[deg]	[grasp_sample.py: 539]
+05/13 22:38:19 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:38:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:38:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:38:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.84s (batch: 4.43s, save: 9.41s)	[pipeline.py: 300]
+05/13 22:38:21 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.68s:
+  episode_total: mean=74.13s, total=148.26s, count=2, min=395.0ms, max=147863.0ms
+  sensor_polling: mean=378.2ms, total=99.85s, count=264, min=294.8ms, max=744.9ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9406.5ms, max=9406.5ms
+  physics_step: mean=23.9ms, total=6.31s, count=264, min=18.2ms, max=96.6ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4429.8ms, max=4429.8ms
+  task_specific_sample: mean=533.7ms, total=1.07s, count=2, min=390.6ms, max=676.8ms
+  task_sampling: mean=680.6ms, total=680.6ms, count=1, min=680.6ms, max=680.6ms
+  task_sampling_failed: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.2ms, max=1.5ms
+  mj_forward_sync: mean=559.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.7us, 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 22:38:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:21 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 22:38:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:21 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 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136532m	[env.py: 870]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06653794 -1.08421586 -0.13653227] yaw=-49.3deg	[env.py: 1019]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82650772 -0.73880451 -0.13653227] yaw=-93.9deg	[env.py: 1019]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.73836724 -0.90286288 -0.13653227] yaw=-90.5deg	[env.py: 1019]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms	[env.py: 1075]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -1.084, -0.137)	[env.py: 1079]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/13 22:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:22 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:22 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 22:38:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:23 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 22:38:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:23 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 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102392m	[env.py: 870]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01202737 -1.37407574 -0.10239194] yaw=-24.7deg	[env.py: 1019]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.70453753 -0.90945494 -0.10239194] yaw=-74.6deg	[env.py: 1019]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=277.4ms, total=277.4ms	[env.py: 1075]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.012, -1.374, -0.102)	[env.py: 1079]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.7 deg	[env.py: 1082]
+05/13 22:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:23 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:23 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 22:38:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.544s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:25 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.584s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:26 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 22:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:26 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 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181090m	[env.py: 870]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02179835 -1.28558866 -0.18109014] yaw=-6.3deg	[env.py: 1019]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67567076 -0.81952772 -0.18109014] yaw=-91.0deg	[env.py: 1019]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60403004 -0.70477812 -0.18109014] yaw=-83.9deg	[env.py: 1019]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms	[env.py: 1075]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -1.286, -0.181)	[env.py: 1079]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.3 deg	[env.py: 1082]
+05/13 22:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:26 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:26 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 22:38:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:27 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 22:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:27 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 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178063m	[env.py: 870]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42723071 -0.77906089 -0.17806344] yaw=-85.0deg	[env.py: 1019]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms	[env.py: 1075]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -0.779, -0.178)	[env.py: 1079]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.0 deg	[env.py: 1082]
+05/13 22:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:27 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:27 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 22:38:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:28 INFO: [Worker 0] Feasibility-checked 228 grasps in 1.515s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:28 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:29 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.708s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:29 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:30 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 22:38:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:30 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 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161985m	[env.py: 870]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22204323 -1.02267708 -0.16198549] yaw=-72.4deg	[env.py: 1019]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2562598  -0.94639372 -0.16198549] yaw=-65.9deg	[env.py: 1019]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2441182  -1.21449908 -0.16198549] yaw=-62.6deg	[env.py: 1019]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.7ms, total=310.8ms	[env.py: 1075]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.023, -0.162)	[env.py: 1079]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.4 deg	[env.py: 1082]
+05/13 22:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:30 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:30 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 22:38:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:31 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 22:38:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:31 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 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157631m	[env.py: 870]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=339.9ms, total=339.9ms	[env.py: 1105]
+05/13 22:38:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:38:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.766s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:32 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:34 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 22:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:34 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 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135259m	[env.py: 870]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.7511027  -0.83828024 -0.13525882] yaw=-56.6deg	[env.py: 1019]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:34 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 22:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:34 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 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160226m	[env.py: 870]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77801905 -0.78907896 -0.16022585] yaw=-70.4deg	[env.py: 1019]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=764.4ms, total=764.4ms	[env.py: 1075]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.751, -0.838, -0.135)	[env.py: 1079]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg	[env.py: 1082]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18634649 -1.41478622 -0.16022585] yaw=-43.2deg	[env.py: 1019]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=344.0ms, total=344.1ms	[env.py: 1075]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.778, -0.789, -0.160)	[env.py: 1079]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg	[env.py: 1082]
+05/13 22:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:35 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:35 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:35 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 22:38:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:35 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 22:38:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:36 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.263s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 95.292[deg]	[grasp_sample.py: 539]
+05/13 22:38:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:38:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:38:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:38:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:51 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:38:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 16.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:51 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.706[m] 92.716[deg]	[grasp_sample.py: 539]
+05/13 22:38:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:38:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:38:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:53 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 22:39:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:39:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:39:09 INFO: [Worker 0] Preparing episode data: 244 timesteps	[save_utils.py: 278]
+05/13 22:39:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:39:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:39:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 10.87s (batch: 3.30s, save: 7.57s)	[pipeline.py: 300]
+05/13 22:39:20 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.44s:
+  episode_total: mean=117.47s, total=117.47s, count=1, min=117471.7ms, max=117471.7ms
+  sensor_polling: mean=313.0ms, total=76.05s, count=243, min=279.8ms, max=717.1ms
+  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7570.2ms, max=7570.2ms
+  physics_step: mean=20.4ms, total=4.95s, count=243, min=13.7ms, max=29.1ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3304.0ms, max=3304.0ms
+  task_sampling: mean=441.1ms, total=441.1ms, count=1, min=441.1ms, max=441.1ms
+  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=400.4us, 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 22:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:21 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 22:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:21 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 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108698m	[env.py: 870]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56957233 -0.74227423 -0.10869763] yaw=-49.3deg	[env.py: 1019]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17522806 -1.30488989 -0.10869763] yaw=-3.5deg	[env.py: 1019]
+05/13 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00571876 -1.29483066 -0.10869763] yaw=-49.6deg	[env.py: 1019]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.7ms	[env.py: 1075]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -0.742, -0.109)	[env.py: 1079]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/13 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/13 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:22 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:22 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 22:39:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:24 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.121s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:39:24 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:39:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:25 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 22:39:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:25 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 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111224m	[env.py: 870]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50372429 -0.75655738 -0.11122397] yaw=-80.4deg	[env.py: 1019]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.097547   -1.14670271 -0.11122397] yaw=-13.7deg	[env.py: 1019]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72240127 -0.84308831 -0.11122397] yaw=-96.1deg	[env.py: 1019]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1075]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.757, -0.111)	[env.py: 1079]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.4 deg	[env.py: 1082]
+05/13 22:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:26 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:26 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 22:39:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.060s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:39:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:29 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 22:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:29 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 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128768m	[env.py: 870]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23317504 -0.95974179 -0.12876771] yaw=-58.3deg	[env.py: 1019]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.82864733 -0.66356461 -0.12876771] yaw=-69.4deg	[env.py: 1019]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.1ms, total=262.1ms	[env.py: 1075]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -0.960, -0.129)	[env.py: 1079]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/13 22:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:30 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 22:39:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.113s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:39:32 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:33 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 22:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:33 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 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129997m	[env.py: 870]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06806948 -1.3939324  -0.12999659] yaw=-17.2deg	[env.py: 1019]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.6ms, total=273.6ms	[env.py: 1075]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.068, -1.394, -0.130)	[env.py: 1079]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.2 deg	[env.py: 1082]
+05/13 22:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:34 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:34 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 22:39:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:36 INFO: [Worker 0] Feasibility-checked 225 grasps in 1.835s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:39:36 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:39:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:37 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 22:39:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:37 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 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120733m	[env.py: 870]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37499092 -0.79705217 -0.1207329 ] yaw=-32.6deg	[env.py: 1019]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.0ms, total=192.1ms	[env.py: 1075]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.797, -0.121)	[env.py: 1079]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.6 deg	[env.py: 1082]
+05/13 22:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:37 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:37 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 22:39:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:39 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.511s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:39:39 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:39:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:39:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:40 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 22:39:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:40 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 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131379m	[env.py: 870]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.9089306  -0.93133114 -0.13137885] yaw=-67.0deg	[env.py: 1019]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50476593 -1.03928326 -0.13137885] yaw=-81.6deg	[env.py: 1019]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms	[env.py: 1075]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.909, -0.931, -0.131)	[env.py: 1079]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/13 22:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:40 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:41 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 22:39:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:39:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.624[m] 87.165[deg]	[grasp_sample.py: 539]
+05/13 22:39:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:39:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:39:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:42 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 22:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:39:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:39:53 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 22:39:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 121 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:40:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:40:02 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 22:40:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:40:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:40:02 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 22:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:40:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:40:04 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 22:40:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:05 INFO: [Worker 0] Feasibility-checked 121 grasps in 11.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:05 INFO: [Worker 0] Feasible grasp found 290 (originally 290): w/ 0.034[m] 14.427[deg]	[grasp_sample.py: 539]
+05/13 22:40:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.483[m] 62.574[deg]	[grasp_sample.py: 539]
+05/13 22:40:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:40:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:40:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:06 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:08 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 22:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:08 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 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113784m	[env.py: 870]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26248166 -1.04191123 -0.11378426] yaw=-52.7deg	[env.py: 1019]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87558581 -0.91672767 -0.11378426] yaw=-110.8deg	[env.py: 1019]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=407.6ms, total=407.6ms	[env.py: 1075]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.042, -0.114)	[env.py: 1079]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg	[env.py: 1082]
+05/13 22:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:08 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:08 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 22:40:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:11 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.723[m] 87.836[deg]	[grasp_sample.py: 539]
+05/13 22:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:14 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 22:40:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:14 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 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197765m	[env.py: 870]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17144963 -1.12378386 -0.19776514] yaw=-43.0deg	[env.py: 1019]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.82196584 -0.68588395 -0.19776514] yaw=-61.0deg	[env.py: 1019]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00132082 -1.29558189 -0.19776514] yaw=-10.8deg	[env.py: 1019]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.1ms	[env.py: 1075]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.171, -1.124, -0.198)	[env.py: 1079]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg	[env.py: 1082]
+05/13 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:14 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:14 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 22:40:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:40:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:40:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.88s (batch: 4.02s, save: 8.86s)	[pipeline.py: 300]
+05/13 22:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:40:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:40:16 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 22:40:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:16 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.59s:
+  episode_total: mean=159.36s, total=159.36s, count=1, min=159362.3ms, max=159362.3ms
+  sensor_polling: mean=396.6ms, total=107.88s, count=272, min=301.4ms, max=738.1ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8856.3ms, max=8856.3ms
+  physics_step: mean=25.0ms, total=6.79s, count=272, min=17.8ms, max=56.6ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4020.1ms, max=4020.1ms
+  task_sampling: mean=588.4ms, total=588.4ms, count=1, min=588.4ms, max=588.4ms
+  task_specific_sample: mean=584.0ms, total=584.0ms, count=1, min=584.0ms, max=584.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=547.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, 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 22:40:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.345s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:17 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.478[m] 61.880[deg]	[grasp_sample.py: 539]
+05/13 22:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:40:17 INFO: [Worker 0] Feasibility-checked 241 grasps in 3.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:17 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.710[m] 93.402[deg]	[grasp_sample.py: 539]
+05/13 22:40:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:40:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:18 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 22:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:18 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 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188534m	[env.py: 870]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3714998  -0.80823007 -0.18853432] yaw=-46.4deg	[env.py: 1019]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13261951 -1.01390513 -0.18853432] yaw=-64.8deg	[env.py: 1019]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.2ms	[env.py: 1075]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -0.808, -0.189)	[env.py: 1079]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg	[env.py: 1082]
+05/13 22:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:18 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:18 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 22:40:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:18 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.920s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:40:20 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:20 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 22:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:20 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 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188317m	[env.py: 870]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3283202  -0.9702306  -0.18831747] yaw=-39.3deg	[env.py: 1019]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49466966 -0.83751077 -0.18831747] yaw=-47.4deg	[env.py: 1019]
+05/13 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -0.970, -0.188)	[env.py: 1079]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg	[env.py: 1082]
+05/13 22:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 22:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:21 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:21 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 22:40:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:22 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 22:40:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:22 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 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157758m	[env.py: 870]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33712557 -1.08913071 -0.15775752] yaw=-52.2deg	[env.py: 1019]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16270339 -1.08627659 -0.15775752] yaw=-32.9deg	[env.py: 1019]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.4ms	[env.py: 1075]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.089, -0.158)	[env.py: 1079]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg	[env.py: 1082]
+05/13 22:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:22 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:23 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 22:40:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.704[m] 85.266[deg]	[grasp_sample.py: 539]
+05/13 22:40:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.629[m] 83.089[deg]	[grasp_sample.py: 539]
+05/13 22:40:26 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:26 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:40:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:40:28 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 22:40:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:28 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 22:40:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:28 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 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195802m	[env.py: 870]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1937707  -0.94783707 -0.19580219] yaw=-51.4deg	[env.py: 1019]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 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 22:40:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:28 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 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136311m	[env.py: 870]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19400853 -1.0512228  -0.19580219] yaw=-54.5deg	[env.py: 1019]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79570292 -0.93529746 -0.13631056] yaw=-52.5deg	[env.py: 1019]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52452042 -0.80546657 -0.19580219] yaw=-69.6deg	[env.py: 1019]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.6ms, total=295.6ms	[env.py: 1075]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -0.948, -0.196)	[env.py: 1079]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg	[env.py: 1082]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41282308 -0.87959087 -0.13631056] yaw=-81.6deg	[env.py: 1019]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=235.9ms, total=236.0ms	[env.py: 1075]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.796, -0.935, -0.136)	[env.py: 1079]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/13 22:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:28 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:28 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:28 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 22:40:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:28 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 22:40:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.478[m] 61.880[deg]	[grasp_sample.py: 539]
+05/13 22:40:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:40:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:40:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:29 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.078s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.641[m] 77.332[deg]	[grasp_sample.py: 539]
+05/13 22:40:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:40:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:40:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:30 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 22:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.089s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:40:30 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:32 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 22:40:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:32 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 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175561m	[env.py: 870]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87823037 -0.76782729 -0.17556138] yaw=-105.0deg	[env.py: 1019]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09983877 -1.07178842 -0.17556138] yaw=-50.0deg	[env.py: 1019]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.05807123 -1.37660483 -0.17556138] yaw=-15.4deg	[env.py: 1019]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.9ms, total=182.9ms	[env.py: 1075]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.878, -0.768, -0.176)	[env.py: 1079]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg	[env.py: 1082]
+05/13 22:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:32 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:32 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 22:40:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:38 INFO: [Worker 0] Feasibility-checked 248 grasps in 5.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:38 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.726[m] 99.033[deg]	[grasp_sample.py: 539]
+05/13 22:40:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:40:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:40:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:39 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 22:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:40:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:40:39 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:40:39 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=2.58s:
+  episode_total: mean=11.98s, total=71.86s, count=6, min=2060.2ms, max=59225.1ms
+  sensor_polling: mean=305.5ms, total=21.99s, count=72, min=283.7ms, max=639.3ms
+  task_sampling: mean=430.2ms, total=2.58s, count=6, min=392.2ms, max=475.2ms
+  task_specific_sample: mean=427.3ms, total=2.56s, count=6, min=389.1ms, max=472.6ms
+  physics_step: mean=17.0ms, total=1.22s, count=72, min=12.1ms, max=24.4ms
+  scene_randomize: mean=1.4ms, total=8.3ms, count=6, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=402.1us, total=2.4ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=12.0us, 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 22:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:41 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 22:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:41 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 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192141m	[env.py: 870]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65811178 -0.73828639 -0.19214142] yaw=-54.9deg	[env.py: 1019]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms	[env.py: 1075]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.738, -0.192)	[env.py: 1079]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg	[env.py: 1082]
+05/13 22:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:41 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:41 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 22:40:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.067s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.772[m] 89.033[deg]	[grasp_sample.py: 539]
+05/13 22:40:49 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:50 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 22:40:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:50 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 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165016m	[env.py: 870]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5559151  -0.90093777 -0.16501581] yaw=-86.2deg	[env.py: 1019]
+05/13 22:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02339506 -1.35756249 -0.16501581] yaw=-2.4deg	[env.py: 1019]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08272334 -1.36506959 -0.16501581] yaw=-13.0deg	[env.py: 1019]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.3ms, total=189.3ms	[env.py: 1075]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.901, -0.165)	[env.py: 1079]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.2 deg	[env.py: 1082]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:51 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:51 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 22:40:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:54 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:40:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.666[m] 86.451[deg]	[grasp_sample.py: 539]
+05/13 22:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:40:55 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:40:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:57 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 22:40:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:57 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 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173460m	[env.py: 870]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54330163 -0.78061229 -0.17346   ] yaw=-70.1deg	[env.py: 1019]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89575549 -0.93154051 -0.17346   ] yaw=-61.3deg	[env.py: 1019]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.85393806 -0.81547918 -0.17346   ] yaw=-96.9deg	[env.py: 1019]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.1ms, total=195.1ms	[env.py: 1075]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.781, -0.173)	[env.py: 1079]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg	[env.py: 1082]
+05/13 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:57 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:57 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 22:40:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.781[m] 86.651[deg]	[grasp_sample.py: 539]
+05/13 22:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:02 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:03 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 22:41:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:03 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 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161299m	[env.py: 870]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53482883 -1.03872508 -0.1612988 ] yaw=-33.3deg	[env.py: 1019]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17133904 -0.95996316 -0.1612988 ] yaw=-56.3deg	[env.py: 1019]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.2ms, total=258.3ms	[env.py: 1075]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -1.039, -0.161)	[env.py: 1079]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg	[env.py: 1082]
+05/13 22:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:03 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:03 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 22:41:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:04 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:04 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.622[m] 91.705[deg]	[grasp_sample.py: 539]
+05/13 22:41:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:41:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:05 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 22:41:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:41:05 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 22:41:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:06 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:06 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.405[m] 52.661[deg]	[grasp_sample.py: 539]
+05/13 22:41:07 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:09 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 22:41:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:09 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 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106236m	[env.py: 870]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91308256 -0.63830189 -0.10623594] yaw=-115.9deg	[env.py: 1019]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.70957999 -0.85585375 -0.10623594] yaw=-77.2deg	[env.py: 1019]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=414.9ms, total=414.9ms	[env.py: 1075]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.913, -0.638, -0.106)	[env.py: 1079]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.9 deg	[env.py: 1082]
+05/13 22:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:10 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:10 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 22:41:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:11 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.441s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:41:11 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:41:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:13 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 22:41:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:13 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 22:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178976m	[env.py: 870]
+05/13 22:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59104838 -0.9735555  -0.17897576] yaw=-66.9deg	[env.py: 1019]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.2ms, total=314.2ms	[env.py: 1075]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -0.974, -0.179)	[env.py: 1079]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg	[env.py: 1082]
+05/13 22:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 22:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:14 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:14 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 22:41:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.932s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:15 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.592[m] 85.904[deg]	[grasp_sample.py: 539]
+05/13 22:41:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:41:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:41:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:16 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 22:41:42 INFO: [Worker 0] Feasibility-checked 229 grasps in 99.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:42 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:43 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 22:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:43 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 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175820m	[env.py: 870]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44155109 -0.88343194 -0.17582043] yaw=-84.4deg	[env.py: 1019]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89785009 -0.89020901 -0.17582043] yaw=-107.0deg	[env.py: 1019]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=385.1ms, total=385.2ms	[env.py: 1075]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.883, -0.176)	[env.py: 1079]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.4 deg	[env.py: 1082]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:44 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:44 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 22:41:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:48 INFO: [Worker 0] Feasibility-checked 243 grasps in 3.153s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:48 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.733[m] 102.472[deg]	[grasp_sample.py: 539]
+05/13 22:41:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:41:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:41:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:41:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:41:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:41:57 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 22:41:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:42:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:42:15 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 22:42:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 9.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:25 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.572[m] 77.445[deg]	[grasp_sample.py: 539]
+05/13 22:42:26 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:28 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 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149488m	[env.py: 870]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49115967 -0.76672243 -0.14948832] yaw=-46.3deg	[env.py: 1019]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45887685 -1.07611449 -0.14948832] yaw=-73.2deg	[env.py: 1019]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=278.0ms, total=278.0ms	[env.py: 1075]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.767, -0.149)	[env.py: 1079]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg	[env.py: 1082]
+05/13 22:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:28 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:28 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 22:42:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:29 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:42:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.784s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:42:30 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:42:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:32 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 22:42:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:32 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 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155536m	[env.py: 870]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46507896 -0.89478636 -0.15553626] yaw=-71.5deg	[env.py: 1019]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30987478 -0.98252176 -0.15553626] yaw=-32.6deg	[env.py: 1019]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.2ms, total=212.2ms	[env.py: 1075]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.895, -0.156)	[env.py: 1079]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg	[env.py: 1082]
+05/13 22:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:32 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:32 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 22:42:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:32 INFO: [Worker 0] Feasibility-checked 244 grasps in 34.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:32 INFO: [Worker 0] Feasible grasp found 534 (originally 227): w/ 0.120[m] 18.324[deg]	[grasp_sample.py: 539]
+05/13 22:42:34 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:35 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 22:42:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:35 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 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143060m	[env.py: 870]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48191264 -0.83547188 -0.1430601 ] yaw=-90.7deg	[env.py: 1019]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6640044  -0.86603333 -0.1430601 ] yaw=-91.1deg	[env.py: 1019]
+05/13 22:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.5ms, total=263.6ms	[env.py: 1075]
+05/13 22:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.835, -0.143)	[env.py: 1079]
+05/13 22:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.7 deg	[env.py: 1082]
+05/13 22:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/13 22:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:36 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:36 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 22:42:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:42 INFO: [Worker 0] Feasibility-checked 243 grasps in 6.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:42 INFO: [Worker 0] Feasible grasp found 567 (originally 260): w/ 0.814[m] 106.817[deg]	[grasp_sample.py: 539]
+05/13 22:42:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 10.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:43 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.685[m] 83.773[deg]	[grasp_sample.py: 539]
+05/13 22:42:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:43 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:44 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 22:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:45 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 22:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:45 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 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152755m	[env.py: 870]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25263399 -1.02271001 -0.15275538] yaw=-28.2deg	[env.py: 1019]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22787549 -1.27198113 -0.15275538] yaw=-14.5deg	[env.py: 1019]
+05/13 22:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.84616353 -0.63755483 -0.15275538] yaw=-105.2deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=343.6ms, total=343.6ms	[env.py: 1075]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.023, -0.153)	[env.py: 1079]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.2 deg	[env.py: 1082]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:46 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:46 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 22:42:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:42:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:42:49 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:42:54 INFO: [Worker 0] Feasibility-checked 239 grasps in 7.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:54 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.767[m] 94.991[deg]	[grasp_sample.py: 539]
+05/13 22:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:56 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:43:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.56s (batch: 3.43s, save: 8.13s)	[pipeline.py: 300]
+05/13 22:43:01 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.66s:
+  episode_total: mean=34.12s, total=136.48s, count=4, min=4935.0ms, max=117834.0ms
+  sensor_polling: mean=295.9ms, total=77.81s, count=263, min=279.7ms, max=573.1ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8128.2ms, max=8128.2ms
+  physics_step: mean=19.5ms, total=5.13s, count=263, min=13.7ms, max=26.7ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3429.5ms, max=3429.5ms
+  task_sampling: mean=414.1ms, total=1.66s, count=4, min=394.8ms, max=451.8ms
+  task_specific_sample: mean=411.5ms, total=1.65s, count=4, min=392.4ms, max=449.4ms
+  scene_randomize: mean=1.1ms, total=4.3ms, count=4, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=400.8us, total=1.6ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.1us, 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 22:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:02 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 22:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:02 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 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145169m	[env.py: 870]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81531552 -0.75772698 -0.14516908] yaw=-88.8deg	[env.py: 1019]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=300.0ms, total=300.0ms	[env.py: 1075]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.815, -0.758, -0.145)	[env.py: 1079]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.8 deg	[env.py: 1082]
+05/13 22:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:03 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:03 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 22:43:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.716[m] 98.291[deg]	[grasp_sample.py: 539]
+05/13 22:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:19 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:43:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:19 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 22:43:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:43:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.48s (batch: 5.20s, save: 9.28s)	[pipeline.py: 300]
+05/13 22:43:35 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=6.25s:
+  episode_total: mean=25.36s, total=304.31s, count=12, min=2078.8ms, max=141388.4ms
+  sensor_polling: mean=373.7ms, total=174.88s, count=468, min=279.5ms, max=807.3ms
+  physics_step: mean=22.9ms, total=10.72s, count=468, min=13.8ms, max=102.9ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9283.3ms, max=9283.3ms
+  task_sampling: mean=520.4ms, total=6.24s, count=12, min=371.7ms, max=733.8ms
+  task_specific_sample: mean=516.8ms, total=6.20s, count=12, min=369.0ms, max=729.8ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5195.2ms, max=5195.2ms
+  scene_randomize: mean=1.7ms, total=19.9ms, count=12, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=487.5us, total=5.8ms, count=12, min=0.4ms, max=0.7ms
+  policy_setup: mean=22.2us, total=0.3ms, count=12, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:37 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 22:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:37 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 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153962m	[env.py: 870]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30015596 -1.09957561 -0.15396197] yaw=-72.0deg	[env.py: 1019]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3849733  -0.83163868 -0.15396197] yaw=-78.9deg	[env.py: 1019]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.4ms, total=208.5ms	[env.py: 1075]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.100, -0.154)	[env.py: 1079]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg	[env.py: 1082]
+05/13 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:38 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:38 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 22:43:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.730[m] 94.066[deg]	[grasp_sample.py: 539]
+05/13 22:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:43:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:44:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:44:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:44:07 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 22:44:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 130 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:13 INFO: [Worker 0] Feasibility-checked 130 grasps in 6.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:13 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.048[m] 7.481[deg]	[grasp_sample.py: 539]
+05/13 22:44:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:14 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:44:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:15 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 22:44:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:15 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 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156978m	[env.py: 870]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22664342 -1.15807919 -0.15697788] yaw=-64.3deg	[env.py: 1019]
+05/13 22:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.2ms, total=192.2ms	[env.py: 1075]
+05/13 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.158, -0.157)	[env.py: 1079]
+05/13 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:16 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:16 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 22:44:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.069s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:18 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.707[m] 84.833[deg]	[grasp_sample.py: 539]
+05/13 22:44:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:19 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 22:44:36 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:45:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:00 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:45:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:02 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:45:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:45:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.77s (batch: 6.60s, save: 8.17s)	[pipeline.py: 300]
+05/13 22:45:16 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=3.88s:
+  episode_total: mean=57.49s, total=402.43s, count=7, min=353.0ms, max=188036.9ms
+  sensor_polling: mean=380.1ms, total=175.59s, count=462, min=286.0ms, max=708.1ms
+  physics_step: mean=23.2ms, total=10.73s, count=462, min=13.9ms, max=40.0ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8172.5ms, max=8172.5ms
+  save_batch_prep: mean=6.60s, total=6.60s, count=1, min=6596.2ms, max=6596.2ms
+  task_specific_sample: mean=601.0ms, total=4.21s, count=7, min=347.6ms, max=1087.0ms
+  task_sampling: mean=646.5ms, total=3.88s, count=6, min=433.5ms, max=1089.9ms
+  task_sampling_failed: mean=352.9ms, total=352.9ms, count=1, min=352.9ms, max=352.9ms
+  scene_randomize: mean=1.6ms, total=11.1ms, count=7, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=501.9us, total=3.5ms, count=7, min=0.3ms, max=0.6ms
+  policy_setup: mean=16.1us, 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 22:45:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:18 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 22:45:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:18 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 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134491m	[env.py: 870]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34035868 -1.1728846  -0.13449061] yaw=-21.5deg	[env.py: 1019]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47557908 -0.94198324 -0.13449061] yaw=-84.5deg	[env.py: 1019]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=291.3ms, total=291.4ms	[env.py: 1075]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -1.173, -0.134)	[env.py: 1079]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.5 deg	[env.py: 1082]
+05/13 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:18 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:18 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 22:45:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:21 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.866s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:21 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.626[m] 88.983[deg]	[grasp_sample.py: 539]
+05/13 22:45:22 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:24 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 22:45:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:24 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 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116304m	[env.py: 870]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37081268 -1.13374194 -0.11630382] yaw=-48.7deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73318062 -0.76832201 -0.11630382] yaw=-94.6deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=399.3ms, total=399.4ms	[env.py: 1075]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.134, -0.116)	[env.py: 1079]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg	[env.py: 1082]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:24 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:24 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 22:45:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:25 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:45:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:25 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/13 22:45:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.363s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:31 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.608[m] 81.932[deg]	[grasp_sample.py: 539]
+05/13 22:45:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:32 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 22:45:34 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:45:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.38s (batch: 4.17s, save: 9.21s)	[pipeline.py: 300]
+05/13 22:45:39 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=3.11s:
+  episode_total: mean=52.26s, total=313.57s, count=6, min=2625.1ms, max=173953.1ms
+  sensor_polling: mean=396.2ms, total=172.34s, count=435, min=308.1ms, max=755.7ms
+  physics_step: mean=24.3ms, total=10.59s, count=435, min=14.5ms, max=100.5ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9208.3ms, max=9208.3ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4174.7ms, max=4174.7ms
+  task_sampling: mean=518.7ms, total=3.11s, count=6, min=415.7ms, max=665.6ms
+  task_specific_sample: mean=515.4ms, total=3.09s, count=6, min=413.4ms, max=660.4ms
+  scene_randomize: mean=1.5ms, total=9.2ms, count=6, min=0.9ms, max=2.4ms
+  mj_forward_sync: mean=426.4us, total=2.6ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.7us, 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 22:45:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:41 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 22:45:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:41 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 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142761m	[env.py: 870]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.78293516 -0.82636988 -0.14276104] yaw=-100.3deg	[env.py: 1019]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.05286581 -1.37348729 -0.14276104] yaw=-18.2deg	[env.py: 1019]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.783, -0.826, -0.143)	[env.py: 1079]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.3 deg	[env.py: 1082]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:41 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:41 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 22:45:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:47 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.369s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:47 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.695[m] 101.958[deg]	[grasp_sample.py: 539]
+05/13 22:45:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:49 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:45:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:55 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/13 22:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:46:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:46:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.93s (batch: 5.06s, save: 8.87s)	[pipeline.py: 300]
+05/13 22:46:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:46:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:46:09 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 22:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:09 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 22:46:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:09 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.53s:
+  episode_total: mean=152.32s, total=152.32s, count=1, min=152322.4ms, max=152322.4ms
+  sensor_polling: mean=377.5ms, total=104.57s, count=277, min=288.0ms, max=668.6ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8873.0ms, max=8873.0ms
+  physics_step: mean=23.7ms, total=6.58s, count=277, min=18.4ms, max=40.6ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5058.8ms, max=5058.8ms
+  task_sampling: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  task_specific_sample: mean=527.9ms, total=527.9ms, count=1, min=527.9ms, max=527.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=617.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.4us, 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 22:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:11 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 22:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:11 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 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174908m	[env.py: 870]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43677276 -0.96962738 -0.17490783] yaw=-40.2deg	[env.py: 1019]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02411852 -1.25730597 -0.17490783] yaw=-14.3deg	[env.py: 1019]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.1ms	[env.py: 1075]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.970, -0.175)	[env.py: 1079]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg	[env.py: 1082]
+05/13 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 22:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:12 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:12 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.587[m] 78.581[deg]	[grasp_sample.py: 539]
+05/13 22:46:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:12 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:12 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 22:46:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.236s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:15 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.703[m] 94.044[deg]	[grasp_sample.py: 539]
+05/13 22:46:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:16 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 22:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:46:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:46:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.11s (batch: 3.71s, save: 8.40s)	[pipeline.py: 300]
+05/13 22:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:21 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.34s:
+  episode_total: mean=99.14s, total=198.27s, count=2, min=72155.6ms, max=126117.8ms
+  sensor_polling: mean=302.5ms, total=130.38s, count=431, min=276.8ms, max=549.4ms
+  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8400.0ms, max=8400.0ms
+  physics_step: mean=19.4ms, total=8.35s, count=431, min=13.6ms, max=27.7ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3706.5ms, max=3706.5ms
+  task_sampling: mean=672.2ms, total=1.34s, count=2, min=408.5ms, max=935.8ms
+  task_specific_sample: mean=669.0ms, total=1.34s, count=2, min=405.7ms, max=932.4ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=420.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:46:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:22 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 22:46:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:23 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 22:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:23 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 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119651m	[env.py: 870]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63556085 -0.82754471 -0.11965103] yaw=-91.3deg	[env.py: 1019]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37215669 -1.00379879 -0.11965103] yaw=-29.0deg	[env.py: 1019]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.2ms	[env.py: 1075]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.828, -0.120)	[env.py: 1079]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.3 deg	[env.py: 1082]
+05/13 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:23 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:23 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 22:46:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.998s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:25 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.587[m] 78.582[deg]	[grasp_sample.py: 539]
+05/13 22:46:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:25 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.726[m] 101.259[deg]	[grasp_sample.py: 539]
+05/13 22:46:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:26 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:27 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 22:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:27 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 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119898m	[env.py: 870]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39543926 -0.85495604 -0.1198978 ] yaw=-58.8deg	[env.py: 1019]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14580465 -1.19111552 -0.1198978 ] yaw=-34.3deg	[env.py: 1019]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.5ms	[env.py: 1075]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.855, -0.120)	[env.py: 1079]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg	[env.py: 1082]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:27 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:27 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 22:46:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.017s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:46:29 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:31 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 22:46:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:31 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 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148995m	[env.py: 870]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.69395034 -0.69290707 -0.14899453] yaw=-56.7deg	[env.py: 1019]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53099843 -0.91832134 -0.14899453] yaw=-89.0deg	[env.py: 1019]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52512565 -1.05073614 -0.14899453] yaw=-37.0deg	[env.py: 1019]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.4ms	[env.py: 1075]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.694, -0.693, -0.149)	[env.py: 1079]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 22:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:31 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:31 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 22:46:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.886s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:46:33 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:34 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 22:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:34 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 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159150m	[env.py: 870]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50364698 -0.83913636 -0.15915011] yaw=-40.2deg	[env.py: 1019]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27076121 -1.00030298 -0.15915011] yaw=-28.1deg	[env.py: 1019]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.88366777 -0.92708031 -0.15915011] yaw=-68.6deg	[env.py: 1019]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.1ms	[env.py: 1075]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.839, -0.159)	[env.py: 1079]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg	[env.py: 1082]
+05/13 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/13 22:46:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:35 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:35 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 22:46:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:36 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 22:46:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:39 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.768[m] 79.662[deg]	[grasp_sample.py: 539]
+05/13 22:46:39 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.766s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:39 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.587[m] 78.582[deg]	[grasp_sample.py: 539]
+05/13 22:46:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:40 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:41 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 22:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:41 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 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139840m	[env.py: 870]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17010174 -1.11959183 -0.13984013] yaw=-30.9deg	[env.py: 1019]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90280925 -0.76944442 -0.13984013] yaw=-111.9deg	[env.py: 1019]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms	[env.py: 1075]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.170, -1.120, -0.140)	[env.py: 1079]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.9 deg	[env.py: 1082]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:41 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:41 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 22:46:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:43 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:43 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.715[m] 89.137[deg]	[grasp_sample.py: 539]
+05/13 22:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:44 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:45 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 22:46:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:45 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 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183315m	[env.py: 870]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25047243 -0.90891028 -0.18331499] yaw=-72.0deg	[env.py: 1019]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42854409 -1.02357051 -0.18331499] yaw=-58.8deg	[env.py: 1019]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=322.6ms, total=322.7ms	[env.py: 1075]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -0.909, -0.183)	[env.py: 1079]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg	[env.py: 1082]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:46 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:46 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 22:46:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.816s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:46:48 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:49 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 22:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:49 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 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131527m	[env.py: 870]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38057944 -1.05195648 -0.13152689] yaw=-72.3deg	[env.py: 1019]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42946228 -1.08974973 -0.13152689] yaw=-57.6deg	[env.py: 1019]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.9ms, total=187.0ms	[env.py: 1075]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.052, -0.132)	[env.py: 1079]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg	[env.py: 1082]
+05/13 22:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:49 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:49 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 22:46:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.605s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:50 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.649[m] 94.120[deg]	[grasp_sample.py: 539]
+05/13 22:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:46:52 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:46:52 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=0.49s:
+  episode_total: mean=71.61s, total=71.61s, count=1, min=71605.0ms, max=71605.0ms
+  sensor_polling: mean=351.2ms, total=23.88s, count=68, min=303.3ms, max=453.6ms
+  physics_step: mean=17.0ms, total=1.16s, count=68, min=12.2ms, max=25.5ms
+  task_sampling: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
+  task_specific_sample: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=338.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=22.5us, 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 22:46:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:54 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 22:46:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:54 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 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142136m	[env.py: 870]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33946588 -1.16835417 -0.14213573] yaw=-35.3deg	[env.py: 1019]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.7ms, total=269.8ms	[env.py: 1075]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -1.168, -0.142)	[env.py: 1079]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg	[env.py: 1082]
+05/13 22:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:54 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:55 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 22:46:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.602[m] 82.764[deg]	[grasp_sample.py: 539]
+05/13 22:46:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:12 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:47:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:47:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:47:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:47:37 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:47:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:47:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:47:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:47:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.53s (batch: 6.43s, save: 10.09s)	[pipeline.py: 300]
+05/13 22:47:55 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.26s:
+  episode_total: mean=78.10s, total=156.21s, count=2, min=4768.5ms, max=151438.6ms
+  sensor_polling: mean=356.4ms, total=91.61s, count=257, min=291.1ms, max=619.2ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10094.9ms, max=10094.9ms
+  save_batch_prep: mean=6.43s, total=6.43s, count=1, min=6434.2ms, max=6434.2ms
+  physics_step: mean=21.9ms, total=5.62s, count=257, min=18.1ms, max=36.7ms
+  task_sampling: mean=629.8ms, total=1.26s, count=2, min=620.2ms, max=639.5ms
+  task_specific_sample: mean=625.8ms, total=1.25s, count=2, min=615.7ms, max=636.0ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.0ms, max=3.1ms
+  mj_forward_sync: mean=398.5us, total=0.8ms, count=2, min=0.3ms, max=0.5ms
+  policy_setup: mean=16.2us, 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 22:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:57 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 22:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:57 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 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150985m	[env.py: 870]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5566458  -0.89342568 -0.15098502] yaw=-48.0deg	[env.py: 1019]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.72065967 -0.90680053 -0.15098502] yaw=-89.0deg	[env.py: 1019]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48689899 -0.92305822 -0.15098502] yaw=-43.6deg	[env.py: 1019]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.8ms, total=186.8ms	[env.py: 1075]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.893, -0.151)	[env.py: 1079]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:58 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:58 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 22:47:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:00 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:48:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:05 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.715[m] 93.769[deg]	[grasp_sample.py: 539]
+05/13 22:48:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:06 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 22:48:18 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:48:25 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:48:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:48:25 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 22:48:38 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:48:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:48:38 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 22:48:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:48:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:48:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.53s (batch: 5.48s, save: 10.06s)	[pipeline.py: 300]
+05/13 22:48:41 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.47s:
+  episode_total: mean=149.82s, total=149.82s, count=1, min=149815.8ms, max=149815.8ms
+  sensor_polling: mean=346.9ms, total=96.43s, count=278, min=288.5ms, max=686.8ms
+  save_trajectories: mean=10.06s, total=10.06s, count=1, min=10056.6ms, max=10056.6ms
+  physics_step: mean=22.0ms, total=6.13s, count=278, min=18.1ms, max=34.7ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5475.3ms, max=5475.3ms
+  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  task_specific_sample: mean=468.1ms, total=468.1ms, count=1, min=468.1ms, max=468.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=409.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, 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 22:48:42 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:48:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:43 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 22:48:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:43 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 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108376m	[env.py: 870]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31224799 -1.06408201 -0.1083759 ] yaw=-52.0deg	[env.py: 1019]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.064, -0.108)	[env.py: 1079]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/13 22:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:44 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:44 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 22:48:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:46 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.701[m] 96.114[deg]	[grasp_sample.py: 539]
+05/13 22:48:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:47 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 22:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:48:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:48:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.47s (batch: 3.39s, save: 8.08s)	[pipeline.py: 300]
+05/13 22:48:50 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=2.94s:
+  episode_total: mean=20.01s, total=140.08s, count=7, min=2428.9ms, max=121371.1ms
+  sensor_polling: mean=303.8ms, total=79.30s, count=261, min=282.1ms, max=793.7ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8083.3ms, max=8083.3ms
+  physics_step: mean=19.6ms, total=5.13s, count=261, min=14.1ms, max=28.7ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3389.2ms, max=3389.2ms
+  task_sampling: mean=419.9ms, total=2.94s, count=7, min=376.7ms, max=511.3ms
+  task_specific_sample: mean=417.2ms, total=2.92s, count=7, min=374.4ms, max=508.9ms
+  scene_randomize: mean=1.3ms, total=9.2ms, count=7, min=1.0ms, max=2.3ms
+  mj_forward_sync: mean=390.6us, total=2.7ms, count=7, min=0.3ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.1ms, count=7, 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 22:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:51 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 22:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:51 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 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195736m	[env.py: 870]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18640665 -1.25174851 -0.19573643] yaw=-5.4deg	[env.py: 1019]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.9ms, total=249.9ms	[env.py: 1075]
+05/13 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -1.252, -0.196)	[env.py: 1079]
+05/13 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -5.4 deg	[env.py: 1082]
+05/13 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:52 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:52 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 22:48:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:01 INFO: [Worker 0] Feasibility-checked 234 grasps in 9.132s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:01 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.670[m] 93.234[deg]	[grasp_sample.py: 539]
+05/13 22:49:02 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:03 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 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132169m	[env.py: 870]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60808547 -0.74123525 -0.13216893] yaw=-44.1deg	[env.py: 1019]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:04 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 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.741, -0.132)	[env.py: 1079]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/13 22:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 22:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:04 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:04 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 22:49:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:49:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:49:05 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 22:49:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.636s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:49:06 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:49:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:07 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 22:49:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:07 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 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199192m	[env.py: 870]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4388933  -0.87404785 -0.19919248] yaw=-66.9deg	[env.py: 1019]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53788131 -0.93882508 -0.19919248] yaw=-52.3deg	[env.py: 1019]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24614118 -1.10162446 -0.19919248] yaw=-33.5deg	[env.py: 1019]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms	[env.py: 1075]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.439, -0.874, -0.199)	[env.py: 1079]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg	[env.py: 1082]
+05/13 22:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:07 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:07 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 22:49:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.678[m] 89.745[deg]	[grasp_sample.py: 539]
+05/13 22:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:12 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 22:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:12 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 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143648m	[env.py: 870]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33425788 -1.17105822 -0.14364819] yaw=-46.1deg	[env.py: 1019]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=316.9ms, total=317.0ms	[env.py: 1075]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.171, -0.144)	[env.py: 1079]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/13 22:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:12 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:12 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 22:49:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.964s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:14 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.604[m] 77.206[deg]	[grasp_sample.py: 539]
+05/13 22:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:49:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:49:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.39s (batch: 4.40s, save: 9.99s)	[pipeline.py: 300]
+05/13 22:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:20 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.55s:
+  episode_total: mean=146.56s, total=146.56s, count=1, min=146559.8ms, max=146559.8ms
+  sensor_polling: mean=380.0ms, total=97.27s, count=256, min=295.9ms, max=700.7ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9986.5ms, max=9986.5ms
+  physics_step: mean=24.2ms, total=6.19s, count=256, min=13.7ms, max=51.3ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4403.2ms, max=4403.2ms
+  task_sampling: mean=551.9ms, total=551.9ms, count=1, min=551.9ms, max=551.9ms
+  task_specific_sample: mean=548.3ms, total=548.3ms, count=1, min=548.3ms, max=548.3ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=336.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.2us, 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 22:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:22 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 22:49:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 142 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:22 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 22:49:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:22 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 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118322m	[env.py: 870]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.91924293 -0.87407213 -0.11832245] yaw=-66.7deg	[env.py: 1019]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.919, -0.874, -0.118)	[env.py: 1079]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg	[env.py: 1082]
+05/13 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:23 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:23 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 22:49:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.658[m] 90.005[deg]	[grasp_sample.py: 539]
+05/13 22:49:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:24 INFO: [Worker 0] Feasibility-checked 142 grasps in 2.027s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:24 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.045[m] 1.492[deg]	[grasp_sample.py: 539]
+05/13 22:49:24 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 22:49:25 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:28 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 22:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:28 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 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195439m	[env.py: 870]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0407632  -1.25728063 -0.19543858] yaw=-3.9deg	[env.py: 1019]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=428.0ms, total=428.1ms	[env.py: 1075]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -1.257, -0.195)	[env.py: 1079]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.9 deg	[env.py: 1082]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:28 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:28 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 22:49:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:30 INFO: [Worker 0] Feasibility-checked 227 grasps in 1.718s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:49:30 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:32 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 22:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:32 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 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178472m	[env.py: 870]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.84859145 -0.66189759 -0.17847238] yaw=-67.8deg	[env.py: 1019]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80454079 -0.83767949 -0.17847238] yaw=-68.3deg	[env.py: 1019]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59562298 -1.00290489 -0.17847238] yaw=-83.9deg	[env.py: 1019]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.6ms	[env.py: 1075]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.849, -0.662, -0.178)	[env.py: 1079]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg	[env.py: 1082]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:33 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:33 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 22:49:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:34 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.724s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:36 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 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135898m	[env.py: 870]
+05/13 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25784776 -1.13053147 -0.13589764] yaw=-60.5deg	[env.py: 1019]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20907045 -1.06998747 -0.13589764] yaw=-59.8deg	[env.py: 1019]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50864355 -0.75479648 -0.13589764] yaw=-71.9deg	[env.py: 1019]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=278.3ms, total=278.4ms	[env.py: 1075]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.131, -0.136)	[env.py: 1079]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg	[env.py: 1082]
+05/13 22:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 22:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:37 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:37 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 22:49:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.665[m] 89.113[deg]	[grasp_sample.py: 539]
+05/13 22:49:41 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:43 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 22:49:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:43 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 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135395m	[env.py: 870]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55931757 -0.91519862 -0.13539528] yaw=-40.5deg	[env.py: 1019]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15362165 -1.00674046 -0.13539528] yaw=-32.7deg	[env.py: 1019]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=444.0ms, total=444.0ms	[env.py: 1075]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.915, -0.135)	[env.py: 1079]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg	[env.py: 1082]
+05/13 22:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:44 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:44 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 22:49:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:53 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 22:49:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.893s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:53 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.729[m] 93.437[deg]	[grasp_sample.py: 539]
+05/13 22:49:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.898s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.510[m] 64.489[deg]	[grasp_sample.py: 539]
+05/13 22:49:54 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 22:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:50:07 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 22:50:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.971s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:08 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.510[m] 64.490[deg]	[grasp_sample.py: 539]
+05/13 22:50:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:50:22 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 22:50:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.510[m] 64.490[deg]	[grasp_sample.py: 539]
+05/13 22:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:50:37 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:50:37 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.50s:
+  episode_total: mean=75.08s, total=75.08s, count=1, min=75081.0ms, max=75081.0ms
+  sensor_polling: mean=417.0ms, total=30.44s, count=73, min=307.3ms, max=800.6ms
+  physics_step: mean=20.1ms, total=1.47s, count=73, min=12.7ms, max=34.4ms
+  task_sampling: mean=503.6ms, total=503.6ms, count=1, min=503.6ms, max=503.6ms
+  task_specific_sample: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=598.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, 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 22:50:37 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:38 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:39 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 22:50:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:39 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 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198788m	[env.py: 870]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09125481 -1.20812483 -0.19878849] yaw=-49.1deg	[env.py: 1019]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4604209  -1.01422596 -0.19878849] yaw=-58.5deg	[env.py: 1019]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13073833 -1.11040624 -0.19878849] yaw=-23.2deg	[env.py: 1019]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.6ms, total=164.6ms	[env.py: 1075]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.208, -0.199)	[env.py: 1079]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg	[env.py: 1082]
+05/13 22:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:39 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:39 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 22:50:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.006s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:50:41 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:50:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:43 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 22:50:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:43 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 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144750m	[env.py: 870]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15895914 -1.09422258 -0.1447504 ] yaw=-60.9deg	[env.py: 1019]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8096667  -0.85370903 -0.1447504 ] yaw=-98.8deg	[env.py: 1019]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51957814 -1.00298466 -0.1447504 ] yaw=-34.3deg	[env.py: 1019]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms	[env.py: 1075]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.094, -0.145)	[env.py: 1079]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/13 22:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:43 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:43 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 22:50:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.057s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:50:46 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:50:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:48 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 22:50:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:48 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 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179428m	[env.py: 870]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21372506 -1.26580646 -0.17942751] yaw=-26.5deg	[env.py: 1019]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8585587  -0.7429159  -0.17942751] yaw=-69.6deg	[env.py: 1019]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53750007 -0.91235975 -0.17942751] yaw=-47.4deg	[env.py: 1019]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms	[env.py: 1075]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.266, -0.179)	[env.py: 1079]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.5 deg	[env.py: 1082]
+05/13 22:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:48 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 22:50:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:54 INFO: [Worker 0] Feasibility-checked 238 grasps in 5.134s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:54 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.634[m] 85.296[deg]	[grasp_sample.py: 539]
+05/13 22:50:55 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:57 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 22:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:57 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 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165756m	[env.py: 870]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.84985582 -0.67367545 -0.1657559 ] yaw=-63.4deg	[env.py: 1019]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20328169 -1.15363514 -0.1657559 ] yaw=-25.4deg	[env.py: 1019]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.4ms	[env.py: 1075]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.850, -0.674, -0.166)	[env.py: 1079]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg	[env.py: 1082]
+05/13 22:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:57 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:57 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 22:50:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:58 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:50:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:58 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 22:50:58 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:50:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:58 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 22:50:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.024s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:51:00 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:51:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:01 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 22:51:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:01 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 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132745m	[env.py: 870]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.74556283 -0.89920557 -0.13274482] yaw=-100.6deg	[env.py: 1019]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10683249 -1.04405519 -0.13274482] yaw=-64.8deg	[env.py: 1019]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=419.2ms, total=419.3ms	[env.py: 1075]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.746, -0.899, -0.133)	[env.py: 1079]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.6 deg	[env.py: 1082]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:02 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:02 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 22:51:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.657[m] 100.932[deg]	[grasp_sample.py: 539]
+05/13 22:51:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:51:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:51:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.42s (batch: 3.56s, save: 7.86s)	[pipeline.py: 300]
+05/13 22:51:10 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.72s:
+  episode_total: mean=33.70s, total=134.81s, count=4, min=2227.7ms, max=118119.0ms
+  sensor_polling: mean=303.0ms, total=76.97s, count=254, min=280.8ms, max=581.2ms
+  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7863.3ms, max=7863.3ms
+  physics_step: mean=19.8ms, total=5.03s, count=254, min=13.6ms, max=24.3ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3557.4ms, max=3557.4ms
+  task_sampling: mean=430.2ms, total=1.72s, count=4, min=283.8ms, max=528.3ms
+  task_specific_sample: mean=427.3ms, total=1.71s, count=4, min=281.4ms, max=525.9ms
+  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=428.5us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=12.5us, total=0.0ms, 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 22:51:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:11 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 22:51:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:11 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 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176721m	[env.py: 870]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09940369 -1.29085769 -0.17672096] yaw=-53.5deg	[env.py: 1019]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44498591 -1.04102715 -0.17672096] yaw=-68.0deg	[env.py: 1019]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.7ms	[env.py: 1075]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.291, -0.177)	[env.py: 1079]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/13 22:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:11 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:12 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 22:51:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:51:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:51:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.60s (batch: 4.89s, save: 9.71s)	[pipeline.py: 300]
+05/13 22:51:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:13 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.725[m] 84.943[deg]	[grasp_sample.py: 539]
+05/13 22:51:14 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.44s:
+  episode_total: mean=150.64s, total=150.64s, count=1, min=150638.5ms, max=150638.5ms
+  sensor_polling: mean=375.0ms, total=102.38s, count=273, min=287.8ms, max=741.9ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9711.2ms, max=9711.2ms
+  physics_step: mean=23.6ms, total=6.45s, count=273, min=14.6ms, max=51.6ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4890.1ms, max=4890.1ms
+  task_sampling: mean=438.2ms, total=438.2ms, count=1, min=438.2ms, max=438.2ms
+  task_specific_sample: mean=434.2ms, total=434.2ms, count=1, min=434.2ms, max=434.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=417.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, 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 22:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:16 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 22:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:16 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 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194009m	[env.py: 870]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30217788 -1.15450605 -0.19400924] yaw=-67.4deg	[env.py: 1019]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=291.8ms, total=291.9ms	[env.py: 1075]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.155, -0.194)	[env.py: 1079]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg	[env.py: 1082]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:16 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 22:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:16 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 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102402m	[env.py: 870]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:16 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.7ms, total=195.7ms	[env.py: 1105]
+05/13 22:51:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:51:16 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:51:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:16 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 22:51:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.924s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:18 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.649[m] 94.146[deg]	[grasp_sample.py: 539]
+05/13 22:51:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:18 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 22:51:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:18 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 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107395m	[env.py: 870]
+05/13 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21560201 -1.24015435 -0.1073954 ] yaw=-59.9deg	[env.py: 1019]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30967314 -1.01698068 -0.1073954 ] yaw=-65.8deg	[env.py: 1019]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10965387 -1.41276179 -0.1073954 ] yaw=-49.0deg	[env.py: 1019]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.8ms, total=293.9ms	[env.py: 1075]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.240, -0.107)	[env.py: 1079]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg	[env.py: 1082]
+05/13 22:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 22:51:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:19 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:19 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 22:51:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.998s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:25 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.710[m] 81.106[deg]	[grasp_sample.py: 539]
+05/13 22:51:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:26 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 22:51:47 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:51:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:13 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:52:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:52:13 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/13 22:52:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:52:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:52:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.49s (batch: 5.39s, save: 10.10s)	[pipeline.py: 300]
+05/13 22:52:29 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.95s:
+  episode_total: mean=52.77s, total=263.84s, count=5, min=2324.1ms, max=166172.6ms
+  sensor_polling: mean=373.1ms, total=164.19s, count=440, min=278.3ms, max=772.4ms
+  physics_step: mean=23.0ms, total=10.11s, count=440, min=14.1ms, max=58.4ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10099.0ms, max=10099.0ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5390.9ms, max=5390.9ms
+  task_sampling: mean=589.8ms, total=2.95s, count=5, min=415.3ms, max=711.8ms
+  task_specific_sample: mean=586.0ms, total=2.93s, count=5, min=411.9ms, max=707.3ms
+  scene_randomize: mean=1.8ms, total=9.2ms, count=5, min=1.0ms, max=3.3ms
+  mj_forward_sync: mean=436.5us, total=2.2ms, count=5, min=0.3ms, 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 22:52:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:31 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 22:52:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:31 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 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143547m	[env.py: 870]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09750674 -1.33299508 -0.14354664] yaw=-5.9deg	[env.py: 1019]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31507841 -0.96317152 -0.14354664] yaw=-55.4deg	[env.py: 1019]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms	[env.py: 1075]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.333, -0.144)	[env.py: 1079]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -5.9 deg	[env.py: 1082]
+05/13 22:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:32 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:32 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 22:52:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:36 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.943s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:36 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.669[m] 91.569[deg]	[grasp_sample.py: 539]
+05/13 22:52:37 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:39 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 22:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:39 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 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170026m	[env.py: 870]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.6ms, total=191.7ms	[env.py: 1105]
+05/13 22:52:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:52:39 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 22:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:41 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 22:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:41 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 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127854m	[env.py: 870]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.1ms, total=182.2ms	[env.py: 1105]
+05/13 22:52:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:52:42 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 22:52:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:44 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 22:52:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:44 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 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100053m	[env.py: 870]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88172353 -0.67308892 -0.10005314] yaw=-92.5deg	[env.py: 1019]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.1ms, total=198.1ms	[env.py: 1075]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.882, -0.673, -0.100)	[env.py: 1079]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.5 deg	[env.py: 1082]
+05/13 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:44 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:44 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 22:52:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.598s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:52:46 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:52:46 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:48 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 22:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:48 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 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146917m	[env.py: 870]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10982032 -1.40619546 -0.1469166 ] yaw=-44.8deg	[env.py: 1019]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.3ms, total=262.3ms	[env.py: 1075]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.406, -0.147)	[env.py: 1079]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:49 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:49 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 22:52:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:56 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.670[m] 100.104[deg]	[grasp_sample.py: 539]
+05/13 22:52:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:52:59 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:53:06 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:53:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:06 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:53:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:53:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.61s (batch: 3.50s, save: 8.11s)	[pipeline.py: 300]
+05/13 22:53:18 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.95s:
+  episode_total: mean=62.96s, total=125.91s, count=2, min=3566.7ms, max=122345.2ms
+  sensor_polling: mean=310.1ms, total=80.63s, count=260, min=281.7ms, max=833.2ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8107.5ms, max=8107.5ms
+  physics_step: mean=19.6ms, total=5.09s, count=260, min=13.7ms, max=28.5ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3498.6ms, max=3498.6ms
+  task_sampling: mean=475.5ms, total=951.1ms, count=2, min=458.3ms, max=492.8ms
+  task_specific_sample: mean=472.4ms, total=944.8ms, count=2, min=454.8ms, max=490.0ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=408.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, 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 22:53:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:19 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 22:53:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:19 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 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168578m	[env.py: 870]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.69303671 -0.83940174 -0.16857771] yaw=-93.4deg	[env.py: 1019]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22763199 -1.24927133 -0.16857771] yaw=-29.0deg	[env.py: 1019]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.175871   -1.04560166 -0.16857771] yaw=-68.8deg	[env.py: 1019]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.9ms, total=251.9ms	[env.py: 1075]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.693, -0.839, -0.169)	[env.py: 1079]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.4 deg	[env.py: 1082]
+05/13 22:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 22:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:20 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:20 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 22:53:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 249 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:53:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:21 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:53:22 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:53:26 INFO: [Worker 0] Feasibility-checked 249 grasps in 6.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:26 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.656[m] 95.814[deg]	[grasp_sample.py: 539]
+05/13 22:53:27 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:28 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 22:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:28 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 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135294m	[env.py: 870]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25475587 -1.11621367 -0.13529449] yaw=-50.8deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69978195 -0.80193683 -0.13529449] yaw=-83.5deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00243473 -1.35238263 -0.13529449] yaw=-47.6deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.6ms, total=124.7ms	[env.py: 1075]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.116, -0.135)	[env.py: 1079]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg	[env.py: 1082]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:29 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:29 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 22:53:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.327s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:32 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.672[m] 83.041[deg]	[grasp_sample.py: 539]
+05/13 22:53:33 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.74s (batch: 4.28s, save: 8.46s)	[pipeline.py: 300]
+05/13 22:53:34 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=2.51s:
+  episode_total: mean=33.54s, total=167.71s, count=5, min=2641.1ms, max=152838.9ms
+  sensor_polling: mean=400.8ms, total=105.01s, count=262, min=301.8ms, max=723.0ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8462.6ms, max=8462.6ms
+  physics_step: mean=24.9ms, total=6.53s, count=262, min=15.0ms, max=55.2ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4282.2ms, max=4282.2ms
+  task_sampling: mean=502.6ms, total=2.51s, count=5, min=390.6ms, max=710.5ms
+  task_specific_sample: mean=498.4ms, total=2.49s, count=5, min=386.0ms, max=705.9ms
+  scene_randomize: mean=1.5ms, total=7.6ms, count=5, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=431.1us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.0us, 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 22:53:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:35 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 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111299m	[env.py: 870]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.82883378 -0.80525549 -0.11129929] yaw=-85.9deg	[env.py: 1019]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.019243   -1.26812418 -0.11129929] yaw=-32.4deg	[env.py: 1019]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.68966107 -0.9285905  -0.11129929] yaw=-48.7deg	[env.py: 1019]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.9ms	[env.py: 1075]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.829, -0.805, -0.111)	[env.py: 1079]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.9 deg	[env.py: 1082]
+05/13 22:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:35 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:35 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 22:53:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:36 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 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160762m	[env.py: 870]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21724176 -0.91992919 -0.16076184] yaw=-66.9deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47635726 -0.80636589 -0.16076184] yaw=-37.4deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.76803957 -0.94009216 -0.16076184] yaw=-51.0deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.2ms, total=129.3ms	[env.py: 1075]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.920, -0.161)	[env.py: 1079]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg	[env.py: 1082]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:36 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:36 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 22:53:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.096s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:53:39 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:53:40 INFO: [Worker 0] Feasibility-checked 246 grasps in 4.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:40 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.720[m] 91.681[deg]	[grasp_sample.py: 539]
+05/13 22:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:40 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 22:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:40 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 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110471m	[env.py: 870]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88685666 -0.87466691 -0.11047065] yaw=-63.2deg	[env.py: 1019]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39579966 -1.10266275 -0.11047065] yaw=-48.8deg	[env.py: 1019]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.85623573 -0.72582816 -0.11047065] yaw=-91.9deg	[env.py: 1019]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.4ms, total=170.4ms	[env.py: 1075]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.887, -0.875, -0.110)	[env.py: 1079]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg	[env.py: 1082]
+05/13 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:41 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:41 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 22:53:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:42 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 94.058[deg]	[grasp_sample.py: 539]
+05/13 22:53:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:43 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 22:53:47 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:53:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:47 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 22:53:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:54:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:54:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.80s (batch: 4.63s, save: 9.18s)	[pipeline.py: 300]
+05/13 22:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:02 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.60s:
+  episode_total: mean=81.83s, total=163.67s, count=2, min=209.6ms, max=163455.9ms
+  sensor_polling: mean=391.0ms, total=107.52s, count=275, min=298.4ms, max=736.4ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9176.9ms, max=9176.9ms
+  physics_step: mean=24.6ms, total=6.75s, count=275, min=18.3ms, max=61.6ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4625.8ms, max=4625.8ms
+  task_specific_sample: mean=401.9ms, total=803.7ms, count=2, min=203.8ms, max=599.9ms
+  task_sampling: mean=603.7ms, total=603.7ms, count=1, min=603.7ms, max=603.7ms
+  task_sampling_failed: mean=209.6ms, total=209.6ms, count=1, min=209.6ms, max=209.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=648.4us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=25.3us, 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 22:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:04 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 22:54:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:04 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 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116552m	[env.py: 870]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.74963521 -0.74501069 -0.11655175] yaw=-90.4deg	[env.py: 1019]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58294406 -0.93874554 -0.11655175] yaw=-88.3deg	[env.py: 1019]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.1ms, total=233.1ms	[env.py: 1075]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.750, -0.745, -0.117)	[env.py: 1079]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.4 deg	[env.py: 1082]
+05/13 22:54:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:04 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:04 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 22:54:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:54:05 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 22:54:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:54:09 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 22:54:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:09 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:09 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.539[m] 62.878[deg]	[grasp_sample.py: 539]
+05/13 22:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:10 INFO: [Worker 0] Feasibility-checked 246 grasps in 5.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:10 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.797[m] 98.838[deg]	[grasp_sample.py: 539]
+05/13 22:54:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:11 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:13 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 22:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:13 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 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119271m	[env.py: 870]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54654817 -0.9736752  -0.11927083] yaw=-71.2deg	[env.py: 1019]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.2ms, total=257.2ms	[env.py: 1075]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.974, -0.119)	[env.py: 1079]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg	[env.py: 1082]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:13 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:13 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 22:54:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:14 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.636[m] 92.666[deg]	[grasp_sample.py: 539]
+05/13 22:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 10.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.553[m] 74.719[deg]	[grasp_sample.py: 539]
+05/13 22:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:54:20 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 22:54:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:54:20 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 22:54:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 184 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:21 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:22 INFO: [Worker 0] Feasibility-checked 184 grasps in 2.150s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:22 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:22 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 22:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:22 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 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183230m	[env.py: 870]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33343833 -0.84325811 -0.18323027] yaw=-40.6deg	[env.py: 1019]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07482924 -1.15549702 -0.18323027] yaw=-61.0deg	[env.py: 1019]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.7ms	[env.py: 1075]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.843, -0.183)	[env.py: 1079]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg	[env.py: 1082]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:23 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:23 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 22:54:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:24 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:24 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.539[m] 62.879[deg]	[grasp_sample.py: 539]
+05/13 22:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:24 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 22:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:24 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 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180485m	[env.py: 870]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=249.2ms, total=249.3ms	[env.py: 1105]
+05/13 22:54:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:54:25 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 22:54:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.909s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:25 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:26 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 22:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:26 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 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162407m	[env.py: 870]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24508056 -1.1642283  -0.16240728] yaw=-62.3deg	[env.py: 1019]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:27 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 22:54:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:27 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 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170628m	[env.py: 870]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03661404 -1.19522965 -0.16240728] yaw=-21.6deg	[env.py: 1019]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15566527 -1.03595261 -0.1706278 ] yaw=-52.5deg	[env.py: 1019]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.67806639 -0.75966092 -0.16240728] yaw=-82.8deg	[env.py: 1019]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=501.8ms, total=501.8ms	[env.py: 1075]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.164, -0.162)	[env.py: 1079]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg	[env.py: 1082]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:27 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:27 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 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89980074 -0.91899189 -0.1706278 ] yaw=-113.6deg	[env.py: 1019]
+05/13 22:54:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=648.7ms, total=648.8ms	[env.py: 1075]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.036, -0.171)	[env.py: 1079]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/13 22:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:28 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:28 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 22:54:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:28 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.668[m] 94.179[deg]	[grasp_sample.py: 539]
+05/13 22:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:29 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.036s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:30 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:31 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 22:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:31 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 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165772m	[env.py: 870]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38281277 -1.16365628 -0.16577184] yaw=-36.3deg	[env.py: 1019]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:31 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 22:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:31 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 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150544m	[env.py: 870]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=475.8ms, total=475.9ms	[env.py: 1075]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -1.164, -0.166)	[env.py: 1079]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg	[env.py: 1082]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43757424 -1.03357043 -0.15054414] yaw=-77.0deg	[env.py: 1019]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:32 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:32 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 22:54:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=479.3ms, total=479.4ms	[env.py: 1075]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.034, -0.151)	[env.py: 1079]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.0 deg	[env.py: 1082]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:32 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:32 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 22:54:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:33 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.433s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.553[m] 84.778[deg]	[grasp_sample.py: 539]
+05/13 22:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:34 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.636[m] 94.388[deg]	[grasp_sample.py: 539]
+05/13 22:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:34 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 22:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:35 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 22:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:54:35 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 22:54:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:38 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:38 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.539[m] 62.879[deg]	[grasp_sample.py: 539]
+05/13 22:54:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:54:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:54:50 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:54:50 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=1.20s:
+  episode_total: mean=29.40s, total=88.19s, count=3, min=5032.3ms, max=75434.0ms
+  sensor_polling: mean=302.8ms, total=24.22s, count=80, min=280.1ms, max=413.1ms
+  physics_step: mean=16.7ms, total=1.34s, count=80, min=11.9ms, max=24.4ms
+  task_sampling: mean=399.7ms, total=1.20s, count=3, min=341.4ms, max=469.9ms
+  task_specific_sample: mean=396.8ms, total=1.19s, count=3, min=338.7ms, max=466.5ms
+  scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=409.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:51 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 22:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:51 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 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129125m	[env.py: 870]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58248943 -0.97621928 -0.12912471] yaw=-57.1deg	[env.py: 1019]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41081766 -0.99557983 -0.12912471] yaw=-48.9deg	[env.py: 1019]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19776857 -1.08518238 -0.12912471] yaw=-53.3deg	[env.py: 1019]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.976, -0.129)	[env.py: 1079]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg	[env.py: 1082]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:52 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:52 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 22:54:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.654[m] 97.281[deg]	[grasp_sample.py: 539]
+05/13 22:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:53 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 22:55:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:03 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:13 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:22 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:25 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:56:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:25 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:56:29 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:56:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:34 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 22:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.66s (batch: 4.04s, save: 8.62s)	[pipeline.py: 300]
+05/13 22:56:38 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.97s:
+  episode_total: mean=76.39s, total=152.77s, count=2, min=7499.0ms, max=145275.5ms
+  sensor_polling: mean=370.9ms, total=96.43s, count=260, min=289.4ms, max=833.1ms
+  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8622.1ms, max=8622.1ms
+  physics_step: mean=23.6ms, total=6.14s, count=260, min=18.1ms, max=80.6ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4035.5ms, max=4035.5ms
+  task_sampling: mean=484.6ms, total=969.2ms, count=2, min=482.1ms, max=487.1ms
+  task_specific_sample: mean=481.0ms, total=961.9ms, count=2, min=479.1ms, max=482.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=418.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, 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 22:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:39 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 22:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:39 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 22:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161215m	[env.py: 870]
+05/13 22:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86064102 -0.79428094 -0.16121509] yaw=-67.9deg	[env.py: 1019]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=338.7ms, total=338.7ms	[env.py: 1075]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.861, -0.794, -0.161)	[env.py: 1079]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg	[env.py: 1082]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:40 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:40 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 22:56:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.926s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.734[m] 97.880[deg]	[grasp_sample.py: 539]
+05/13 22:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:42 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:56:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:42 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 22:56:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:42 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 22:56:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:56:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.74s (batch: 4.00s, save: 8.74s)	[pipeline.py: 300]
+05/13 22:56:47 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=3.33s:
+  episode_total: mean=30.28s, total=242.26s, count=8, min=197.5ms, max=136219.4ms
+  sensor_polling: mean=359.4ms, total=156.69s, count=436, min=282.1ms, max=788.7ms
+  physics_step: mean=22.6ms, total=9.86s, count=436, min=14.1ms, max=45.1ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8739.6ms, max=8739.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4004.6ms, max=4004.6ms
+  task_specific_sample: mean=493.9ms, total=3.95s, count=8, min=190.2ms, max=899.7ms
+  task_sampling: mean=665.4ms, total=3.33s, count=5, min=539.2ms, max=903.5ms
+  task_sampling_failed: mean=219.1ms, total=657.3ms, count=3, min=197.4ms, max=258.2ms
+  scene_randomize: mean=2.0ms, total=15.7ms, count=8, min=1.0ms, max=5.0ms
+  mj_forward_sync: mean=412.1us, total=3.3ms, count=8, min=0.3ms, max=0.6ms
+  policy_setup: mean=27.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:56:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:56:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:49 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 22:56:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:49 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 22:56:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:49 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 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126663m	[env.py: 870]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06773628 -1.18656855 -0.12666256] yaw=-16.9deg	[env.py: 1019]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.6ms, total=260.6ms	[env.py: 1075]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.068, -1.187, -0.127)	[env.py: 1079]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.9 deg	[env.py: 1082]
+05/13 22:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:50 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:50 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 22:56:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:52 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.084s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:52 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:56:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.74s (batch: 3.46s, save: 8.28s)	[pipeline.py: 300]
+05/13 22:56:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:54 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 22:56:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:54 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 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191539m	[env.py: 870]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46728638 -1.01382595 -0.19153939] yaw=-30.1deg	[env.py: 1019]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48139109 -0.93318292 -0.19153939] yaw=-87.5deg	[env.py: 1019]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:54 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.33s:
+  episode_total: mean=122.65s, total=122.65s, count=1, min=122648.9ms, max=122648.9ms
+  sensor_polling: mean=297.7ms, total=80.07s, count=269, min=277.6ms, max=798.3ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8279.0ms, max=8279.0ms
+  physics_step: mean=19.3ms, total=5.18s, count=269, min=14.1ms, max=27.5ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3461.7ms, max=3461.7ms
+  task_sampling: mean=331.1ms, total=331.1ms, count=1, min=331.1ms, max=331.1ms
+  task_specific_sample: mean=328.6ms, total=328.6ms, count=1, min=328.6ms, max=328.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.1us, 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 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32892802 -0.96026505 -0.19153939] yaw=-53.0deg	[env.py: 1019]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.6ms	[env.py: 1075]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -1.014, -0.192)	[env.py: 1079]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 22:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:54 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:54 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 22:56:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:55 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 22:56:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:55 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 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180756m	[env.py: 870]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46662527 -0.76514288 -0.18075585] yaw=-72.8deg	[env.py: 1019]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09634573 -1.20695043 -0.18075585] yaw=-58.1deg	[env.py: 1019]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08837905 -1.10985224 -0.18075585] yaw=-16.9deg	[env.py: 1019]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.6ms, total=211.6ms	[env.py: 1075]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.765, -0.181)	[env.py: 1079]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg	[env.py: 1082]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:56 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:56 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 22:56:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:57 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.214s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.644[m] 88.324[deg]	[grasp_sample.py: 539]
+05/13 22:56:58 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.147s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:58 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:59 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 22:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:59 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 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169475m	[env.py: 870]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:59 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 22:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:59 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 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179748m	[env.py: 870]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59903488 -0.75808648 -0.16947542] yaw=-93.6deg	[env.py: 1019]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64052929 -0.9308496  -0.16947542] yaw=-71.9deg	[env.py: 1019]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60516404 -0.90969017 -0.17974768] yaw=-53.2deg	[env.py: 1019]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=518.8ms, total=518.8ms	[env.py: 1075]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.758, -0.169)	[env.py: 1079]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.6 deg	[env.py: 1082]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24660799 -1.08840541 -0.17974768] yaw=-15.1deg	[env.py: 1019]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=649.4ms, total=649.4ms	[env.py: 1075]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.910, -0.180)	[env.py: 1079]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/13 22:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:00 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:00 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 22:57:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:00 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:00 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 22:57:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.221s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.651[m] 83.780[deg]	[grasp_sample.py: 539]
+05/13 22:57:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:02 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 22:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:57:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:57:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.79s (batch: 4.14s, save: 9.64s)	[pipeline.py: 300]
+05/13 22:57:03 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=2.85s:
+  episode_total: mean=40.14s, total=200.71s, count=5, min=2551.6ms, max=151837.2ms
+  sensor_polling: mean=389.7ms, total=116.91s, count=300, min=300.8ms, max=743.2ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9644.7ms, max=9644.7ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=13.6ms, max=32.0ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4143.4ms, max=4143.4ms
+  task_sampling: mean=570.4ms, total=2.85s, count=5, min=359.6ms, max=913.1ms
+  task_specific_sample: mean=566.5ms, total=2.83s, count=5, min=356.1ms, max=907.5ms
+  scene_randomize: mean=2.0ms, total=9.9ms, count=5, min=1.3ms, max=3.4ms
+  mj_forward_sync: mean=496.0us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.8us, 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 22:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:05 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 22:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:05 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 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122185m	[env.py: 870]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60323698 -0.88885156 -0.12218461] yaw=-57.2deg	[env.py: 1019]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=424.3ms, total=424.4ms	[env.py: 1075]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -0.889, -0.122)	[env.py: 1079]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg	[env.py: 1082]
+05/13 22:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:05 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:06 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 22:57:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 80.990[deg]	[grasp_sample.py: 539]
+05/13 22:57:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:08 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 22:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:11 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 22:57:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.202s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:12 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.563[m] 68.727[deg]	[grasp_sample.py: 539]
+05/13 22:57:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:18 INFO: [Worker 0] Feasibility-checked 248 grasps in 18.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:18 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.793[m] 111.027[deg]	[grasp_sample.py: 539]
+05/13 22:57:19 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:20 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 22:57:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:20 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 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126203m	[env.py: 870]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.9ms, total=191.9ms	[env.py: 1105]
+05/13 22:57:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:57:21 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 22:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:22 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 22:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:22 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 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162449m	[env.py: 870]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.321327   -0.8575453  -0.16244948] yaw=-66.7deg	[env.py: 1019]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -0.858, -0.162)	[env.py: 1079]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg	[env.py: 1082]
+05/13 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:22 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:22 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 22:57:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.672s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:57:24 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:25 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 22:57:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:25 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 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105845m	[env.py: 870]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21212535 -1.16396477 -0.10584543] yaw=-59.7deg	[env.py: 1019]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23151799 -1.25011872 -0.10584543] yaw=-11.9deg	[env.py: 1019]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=386.7ms, total=386.7ms	[env.py: 1075]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.164, -0.106)	[env.py: 1079]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg	[env.py: 1082]
+05/13 22:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/13 22:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:26 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:26 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 22:57:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:26 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 22:57:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.563[m] 68.727[deg]	[grasp_sample.py: 539]
+05/13 22:57:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:28 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.737[m] 88.366[deg]	[grasp_sample.py: 539]
+05/13 22:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:28 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 22:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:39 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 22:57:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.990s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.563[m] 68.727[deg]	[grasp_sample.py: 539]
+05/13 22:57:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:57:52 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:57:52 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=False episode_total=0.60s:
+  episode_total: mean=72.33s, total=72.33s, count=1, min=72332.0ms, max=72332.0ms
+  sensor_polling: mean=370.8ms, total=29.66s, count=80, min=296.2ms, max=564.3ms
+  physics_step: mean=20.3ms, total=1.63s, count=80, min=12.1ms, max=80.0ms
+  task_sampling: mean=603.3ms, total=603.3ms, count=1, min=603.3ms, max=603.3ms
+  task_specific_sample: mean=599.7ms, total=599.7ms, count=1, min=599.7ms, max=599.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=351.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=43.5us, 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 22:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:53 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 22:57:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:53 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 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119094m	[env.py: 870]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00820278 -1.33185356 -0.11909427] yaw=-31.3deg	[env.py: 1019]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.8ms, total=196.8ms	[env.py: 1075]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.008, -1.332, -0.119)	[env.py: 1079]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg	[env.py: 1082]
+05/13 22:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/13 22:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:54 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:54 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 22:57:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:56 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.531s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:57:56 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:58 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 22:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:58 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 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112646m	[env.py: 870]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13289171 -1.00769697 -0.11264601] yaw=-26.4deg	[env.py: 1019]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29385946 -1.19331347 -0.11264601] yaw=-41.9deg	[env.py: 1019]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.0ms	[env.py: 1075]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.133, -1.008, -0.113)	[env.py: 1079]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg	[env.py: 1082]
+05/13 22:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:58 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:58 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 22:57:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:00 INFO: [Worker 0] Feasibility-checked 230 grasps in 1.643s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:58:00 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:58:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:02 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 22:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:02 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 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134991m	[env.py: 870]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36558751 -0.87953502 -0.13499073] yaw=-54.7deg	[env.py: 1019]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.82239326 -0.67353566 -0.13499073] yaw=-111.1deg	[env.py: 1019]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=428.2ms, total=428.3ms	[env.py: 1075]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.880, -0.135)	[env.py: 1079]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg	[env.py: 1082]
+05/13 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:03 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:03 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 22:58:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.961s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:07 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:08 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 22:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:08 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 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100441m	[env.py: 870]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53453395 -0.89706693 -0.10044124] yaw=-39.2deg	[env.py: 1019]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33213452 -1.16342174 -0.10044124] yaw=-49.6deg	[env.py: 1019]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=206.1ms, total=206.1ms	[env.py: 1075]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.897, -0.100)	[env.py: 1079]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg	[env.py: 1082]
+05/13 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:09 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:09 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 22:58:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:11 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.763[m] 86.539[deg]	[grasp_sample.py: 539]
+05/13 22:58:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:11 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 22:58:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:44 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:59:00 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:59:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:59:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:05 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:59:06 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:59:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.74s (batch: 4.85s, save: 8.89s)	[pipeline.py: 300]
+05/13 22:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:20 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=1.89s:
+  episode_total: mean=49.06s, total=147.18s, count=3, min=2913.4ms, max=140408.6ms
+  sensor_polling: mean=350.1ms, total=93.13s, count=266, min=290.0ms, max=714.5ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8887.2ms, max=8887.2ms
+  physics_step: mean=21.6ms, total=5.75s, count=266, min=14.4ms, max=94.0ms
+  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4852.8ms, max=4852.8ms
+  task_sampling: mean=629.3ms, total=1.89s, count=3, min=461.9ms, max=862.5ms
+  task_specific_sample: mean=625.2ms, total=1.88s, count=3, min=458.8ms, max=857.9ms
+  scene_randomize: mean=2.2ms, total=6.6ms, count=3, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=538.4us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.8us, 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 22:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:22 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 22:59:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:22 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 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135793m	[env.py: 870]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-4.64658059e-05 -1.25317266e+00 -1.35792662e-01] yaw=-4.4deg	[env.py: 1019]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:22 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:22 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51148597 -0.86573226 -0.13579266] yaw=-42.1deg	[env.py: 1019]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.3ms	[env.py: 1075]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.000, -1.253, -0.136)	[env.py: 1079]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.4 deg	[env.py: 1082]
+05/13 22:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:22 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:22 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 22:59:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:23 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 22:59:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:25 INFO: [Worker 0] Feasibility-checked 229 grasps in 2.229s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:59:25 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:59:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:27 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 22:59:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:27 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 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154845m	[env.py: 870]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77330186 -0.94980757 -0.15484502] yaw=-95.1deg	[env.py: 1019]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05304003 -1.40348294 -0.15484502] yaw=-23.6deg	[env.py: 1019]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45067683 -0.78433304 -0.15484502] yaw=-53.0deg	[env.py: 1019]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.3ms, total=179.3ms	[env.py: 1075]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.773, -0.950, -0.155)	[env.py: 1079]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.1 deg	[env.py: 1082]
+05/13 22:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:27 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:27 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 22:59:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:28 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.605s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:28 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.607[m] 88.643[deg]	[grasp_sample.py: 539]
+05/13 22:59:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:28 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 22:59:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:28 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:59:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:29 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 22:59:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:59:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.16s (batch: 3.77s, save: 8.40s)	[pipeline.py: 300]
+05/13 22:59:35 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=2.21s:
+  episode_total: mean=30.92s, total=154.58s, count=5, min=201.6ms, max=129321.7ms
+  sensor_polling: mean=305.6ms, total=85.25s, count=279, min=276.4ms, max=600.9ms
+  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8395.9ms, max=8395.9ms
+  physics_step: mean=19.8ms, total=5.51s, count=279, min=13.6ms, max=26.7ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3767.3ms, max=3767.3ms
+  task_specific_sample: mean=479.9ms, total=2.40s, count=5, min=197.1ms, max=761.1ms
+  task_sampling: mean=553.4ms, total=2.21s, count=4, min=419.8ms, max=764.2ms
+  task_sampling_failed: mean=201.6ms, total=201.6ms, count=1, min=201.6ms, max=201.6ms
+  scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=438.0us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.6us, 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 22:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:36 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 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134903m	[env.py: 870]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22644351 -1.13524836 -0.13490332] yaw=-52.4deg	[env.py: 1019]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10561342 -1.3336419  -0.13490332] yaw=-35.6deg	[env.py: 1019]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=197.1ms, total=197.1ms	[env.py: 1075]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.135, -0.135)	[env.py: 1079]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg	[env.py: 1082]
+05/13 22:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:36 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:36 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 22:59:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.674[m] 82.727[deg]	[grasp_sample.py: 539]
+05/13 22:59:40 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:59:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 22:59:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.08s (batch: 3.96s, save: 8.12s)	[pipeline.py: 300]
+05/13 22:59:41 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.76s:
+  episode_total: mean=155.98s, total=155.98s, count=1, min=155980.4ms, max=155980.4ms
+  sensor_polling: mean=397.4ms, total=106.51s, count=268, min=298.9ms, max=776.4ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.7ms, max=8118.7ms
+  physics_step: mean=24.8ms, total=6.65s, count=268, min=18.5ms, max=55.0ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3962.8ms, max=3962.8ms
+  task_sampling: mean=760.8ms, total=760.8ms, count=1, min=760.8ms, max=760.8ms
+  task_specific_sample: mean=757.2ms, total=757.2ms, count=1, min=757.2ms, max=757.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=405.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, 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 22:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:41 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 22:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:41 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 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118224m	[env.py: 870]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77560424 -0.87003308 -0.11822443] yaw=-63.9deg	[env.py: 1019]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.9ms, total=184.9ms	[env.py: 1075]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.776, -0.870, -0.118)	[env.py: 1079]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg	[env.py: 1082]
+05/13 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:41 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:41 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 22:59:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:42 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 22:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:42 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 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198094m	[env.py: 870]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35943801 -0.83029198 -0.19809419] yaw=-73.1deg	[env.py: 1019]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18017775 -1.18944638 -0.19809419] yaw=-26.4deg	[env.py: 1019]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.02721658 -1.2240522  -0.19809419] yaw=-14.1deg	[env.py: 1019]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:42 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 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.830, -0.198)	[env.py: 1079]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg	[env.py: 1082]
+05/13 22:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 19.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:43 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.088[m] 13.075[deg]	[grasp_sample.py: 539]
+05/13 22:59:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:43 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:43 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 22:59:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:44 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.667[m] 80.603[deg]	[grasp_sample.py: 539]
+05/13 22:59:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:45 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:59:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.239s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:59:45 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:46 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 22:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:46 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 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122219m	[env.py: 870]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34712777 -1.19619172 -0.12221856] yaw=-40.1deg	[env.py: 1019]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01882902 -1.37976242 -0.12221856] yaw=-41.2deg	[env.py: 1019]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms	[env.py: 1075]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.196, -0.122)	[env.py: 1079]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg	[env.py: 1082]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:46 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:46 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 22:59:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:46 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 22:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:46 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 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132017m	[env.py: 870]
+05/13 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=424.0ms, total=424.1ms	[env.py: 1105]
+05/13 22:59:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:48 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 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175147m	[env.py: 870]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58492717 -0.82223584 -0.17514726] yaw=-81.6deg	[env.py: 1019]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32151205 -1.10997836 -0.17514726] yaw=-48.3deg	[env.py: 1019]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8252903  -0.83164753 -0.17514726] yaw=-77.0deg	[env.py: 1019]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.3ms	[env.py: 1075]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.822, -0.175)	[env.py: 1079]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.6 deg	[env.py: 1082]
+05/13 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.615[m] 97.468[deg]	[grasp_sample.py: 539]
+05/13 22:59:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:49 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:49 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 22:59:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:49 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 22:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.352s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:53 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.677[m] 100.179[deg]	[grasp_sample.py: 539]
+05/13 22:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:54 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 22:59:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:55 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 22:59:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:55 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.468[m] 63.974[deg]	[grasp_sample.py: 539]
+05/13 22:59:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:58 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.088[m] 3.258[deg]	[grasp_sample.py: 539]
+05/13 22:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:59 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:01 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 23:00:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:01 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 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180217m	[env.py: 870]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.80873618 -0.66906559 -0.18021726] yaw=-86.7deg	[env.py: 1019]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=294.1ms, total=294.1ms	[env.py: 1075]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.809, -0.669, -0.180)	[env.py: 1079]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.7 deg	[env.py: 1082]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:01 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:01 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 23:00:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:03 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.390s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:03 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:04 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 23:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:04 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 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106034m	[env.py: 870]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66077996 -0.96186237 -0.10603366] yaw=-66.6deg	[env.py: 1019]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.7ms, total=296.8ms	[env.py: 1075]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.661, -0.962, -0.106)	[env.py: 1079]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/13 23:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 23:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:05 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:05 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 23:00:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.617[m] 85.981[deg]	[grasp_sample.py: 539]
+05/13 23:00:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:07 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 23:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:09 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 23:00:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:10 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.125s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:10 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.464[m] 63.268[deg]	[grasp_sample.py: 539]
+05/13 23:00:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:24 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 23:00:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:25 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.464[m] 63.268[deg]	[grasp_sample.py: 539]
+05/13 23:00:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:00:39 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:00:39 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=False episode_total=0.89s:
+  episode_total: mean=37.44s, total=74.89s, count=2, min=2948.3ms, max=71939.3ms
+  sensor_polling: mean=390.8ms, total=27.75s, count=71, min=305.6ms, max=608.3ms
+  physics_step: mean=21.1ms, total=1.50s, count=71, min=11.5ms, max=63.4ms
+  task_sampling: mean=446.2ms, total=892.4ms, count=2, min=401.2ms, max=491.1ms
+  task_specific_sample: mean=440.9ms, total=881.8ms, count=2, min=394.6ms, max=487.1ms
+  scene_randomize: mean=3.1ms, total=6.1ms, count=2, min=2.6ms, max=3.5ms
+  mj_forward_sync: mean=388.6us, total=0.8ms, 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 23:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:40 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 23:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:40 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 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138703m	[env.py: 870]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73539505 -0.70277984 -0.13870309] yaw=-70.1deg	[env.py: 1019]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=631.9ms, total=632.0ms	[env.py: 1075]
+05/13 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.735, -0.703, -0.139)	[env.py: 1079]
+05/13 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg	[env.py: 1082]
+05/13 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/13 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:41 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:41 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 23:00:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.519s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:43 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:45 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 23:00:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:45 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 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117141m	[env.py: 870]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.8ms, total=195.8ms	[env.py: 1105]
+05/13 23:00:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:00:45 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 23:00:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:47 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 23:00:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:47 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 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124026m	[env.py: 870]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6108785  -0.95393564 -0.12402609] yaw=-94.1deg	[env.py: 1019]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03188435 -1.31091787 -0.12402609] yaw=-44.1deg	[env.py: 1019]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.73593384 -0.94890761 -0.12402609] yaw=-79.1deg	[env.py: 1019]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.6ms	[env.py: 1075]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.954, -0.124)	[env.py: 1079]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.1 deg	[env.py: 1082]
+05/13 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:47 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:47 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 23:00:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.904s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:49 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.679[m] 95.480[deg]	[grasp_sample.py: 539]
+05/13 23:00:51 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:52 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 23:00:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:52 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 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150194m	[env.py: 870]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=202.9ms	[env.py: 1105]
+05/13 23:00:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:00:53 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 23:00:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:54 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 23:00:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:54 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 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149300m	[env.py: 870]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.73940176 -0.65940073 -0.14930003] yaw=-90.6deg	[env.py: 1019]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42921684 -1.07025637 -0.14930003] yaw=-47.4deg	[env.py: 1019]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08632602 -1.31832621 -0.14930003] yaw=-33.1deg	[env.py: 1019]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.7ms, total=109.8ms	[env.py: 1075]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.739, -0.659, -0.149)	[env.py: 1079]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.6 deg	[env.py: 1082]
+05/13 23:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:55 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:55 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 23:00:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:00:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.568s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:56 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:58 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 23:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:58 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 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112522m	[env.py: 870]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11157667 -1.24067202 -0.11252228] yaw=-46.8deg	[env.py: 1019]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.5ms	[env.py: 1075]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.241, -0.113)	[env.py: 1079]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:59 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:59 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 23:00:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:01 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.624s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:01:01 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:01:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:03 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 23:01:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:03 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 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191525m	[env.py: 870]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11752847 -1.18671446 -0.19152466] yaw=-7.2deg	[env.py: 1019]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14300987 -0.9942807  -0.19152466] yaw=-58.0deg	[env.py: 1019]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.8ms, total=242.8ms	[env.py: 1075]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.118, -1.187, -0.192)	[env.py: 1079]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.2 deg	[env.py: 1082]
+05/13 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:03 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:03 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 23:01:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:12 INFO: [Worker 0] Feasibility-checked 234 grasps in 8.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:12 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:14 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 23:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150168m	[env.py: 870]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11371809 -1.108756   -0.15016834] yaw=-25.8deg	[env.py: 1019]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68612908 -0.67992161 -0.15016834] yaw=-93.5deg	[env.py: 1019]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:14 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65385656 -0.98043327 -0.15016834] yaw=-59.0deg	[env.py: 1019]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.7ms, total=254.7ms	[env.py: 1075]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.114, -1.109, -0.150)	[env.py: 1079]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.8 deg	[env.py: 1082]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:14 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:14 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 23:01:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:16 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.877s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:01:16 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:01:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:18 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 23:01:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:18 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 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161742m	[env.py: 870]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56444498 -0.90890053 -0.16174156] yaw=-77.9deg	[env.py: 1019]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43663218 -0.8504741  -0.16174156] yaw=-76.0deg	[env.py: 1019]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms	[env.py: 1075]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.909, -0.162)	[env.py: 1079]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.9 deg	[env.py: 1082]
+05/13 23:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:19 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:19 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 23:01:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.672[m] 93.233[deg]	[grasp_sample.py: 539]
+05/13 23:01:23 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:25 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:01:25 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:01:25 INFO: [Worker 0] Worker 0 completed house 1: 11/15 successful episodes	[pipeline.py: 1323]
+05/13 23:01:25 INFO: [Worker 0] [PROFILE] House 1 complete: 11/15 successful, 15 episodes, total_time=4339.94s
+  House averages:
+  episode_total: mean=36.24s, total=2609.63s, count=72, min=197.5ms, max=188036.9ms
+  sensor_polling: mean=357.6ms, total=1410.90s, count=3946, min=271.6ms, max=788.7ms
+  save_trajectories: mean=8.77s, total=96.45s, count=11, min=7923.7ms, max=10099.0ms
+  physics_step: mean=22.2ms, total=87.62s, count=3946, min=11.4ms, max=96.6ms
+  save_batch_prep: mean=4.66s, total=51.24s, count=11, min=3630.1ms, max=6596.2ms
+  task_sampling: mean=601.2ms, total=37.27s, count=62, min=270.0ms, max=3372.4ms
+  task_specific_sample: mean=514.1ms, total=37.01s, count=72, min=190.2ms, max=1087.0ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2830.5ms, max=2830.5ms
+  task_sampling_failed: mean=282.9ms, total=2.83s, count=10, min=197.4ms, max=491.3ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1607.6ms, max=1607.6ms
+  scene_compile: mean=1.08s, total=1.08s, count=1, min=1083.1ms, max=1083.1ms
+  compile_mujoco: mean=573.7ms, total=573.7ms, count=1, min=573.7ms, max=573.7ms
+  compile_xml_load: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  scene_randomize: mean=1.7ms, total=122.7ms, count=72, min=1.0ms, max=5.0ms
+  scene_init: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  mj_forward_sync: mean=437.6us, total=31.5ms, count=72, min=0.3ms, max=0.8ms
+  compile_robot_add: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_objects: mean=12.6ms, total=12.6ms, count=1, min=12.6ms, max=12.6ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=18.8us, total=1.2ms, count=62, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:01:25 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:01:25 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4339.94s
+  Worker averages:
+  episode_total: mean=36.24s, total=2609.63s, count=72, min=197.5ms, max=188036.9ms
+  sensor_polling: mean=357.6ms, total=1410.90s, count=3946, min=271.6ms, max=788.7ms
+  save_trajectories: mean=8.77s, total=96.45s, count=11, min=7923.7ms, max=10099.0ms
+  physics_step: mean=22.2ms, total=87.62s, count=3946, min=11.4ms, max=96.6ms
+  save_batch_prep: mean=4.66s, total=51.24s, count=11, min=3630.1ms, max=6596.2ms
+  task_sampling: mean=601.2ms, total=37.27s, count=62, min=270.0ms, max=3372.4ms
+  task_specific_sample: mean=514.1ms, total=37.01s, count=72, min=190.2ms, max=1087.0ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2830.5ms, max=2830.5ms
+  task_sampling_failed: mean=282.9ms, total=2.83s, count=10, min=197.4ms, max=491.3ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1607.6ms, max=1607.6ms
+  scene_compile: mean=1.08s, total=1.08s, count=1, min=1083.1ms, max=1083.1ms
+  compile_mujoco: mean=573.7ms, total=573.7ms, count=1, min=573.7ms, max=573.7ms
+  compile_xml_load: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  scene_randomize: mean=1.7ms, total=122.7ms, count=72, min=1.0ms, max=5.0ms
+  scene_init: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  mj_forward_sync: mean=437.6us, total=31.5ms, count=72, min=0.3ms, max=0.8ms
+  compile_robot_add: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_objects: mean=12.6ms, total=12.6ms, count=1, min=12.6ms, max=12.6ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=18.8us, total=1.2ms, count=62, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:01:28 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:01:28 INFO: Success count: 11, Total count: 15	[pipeline.py: 1491]
+05/13 23:01:28 INFO: Success rate: 73.33%	[pipeline.py: 1492]
+05/13 23:01:34 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:01:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:01:34 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 23:01:44 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:45 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:01:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:01:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.29s (batch: 3.40s, save: 7.89s)	[pipeline.py: 300]
+05/13 23:01:46 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=1.20s:
+  episode_total: mean=42.67s, total=128.00s, count=3, min=3767.1ms, max=120430.6ms
+  sensor_polling: mean=302.9ms, total=78.45s, count=259, min=269.4ms, max=625.1ms
+  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7893.2ms, max=7893.2ms
+  physics_step: mean=19.9ms, total=5.16s, count=259, min=14.9ms, max=59.0ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3399.0ms, max=3399.0ms
+  task_sampling: mean=401.2ms, total=1.20s, count=3, min=382.5ms, max=437.8ms
+  task_specific_sample: mean=398.1ms, total=1.19s, count=3, min=379.4ms, max=434.5ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=398.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, 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 23:01:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:48 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 23:01:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:48 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 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167499m	[env.py: 870]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16242573 -1.42290969 -0.167499  ] yaw=-43.0deg	[env.py: 1019]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38410695 -1.07679552 -0.167499  ] yaw=-24.4deg	[env.py: 1019]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.8ms, total=266.8ms	[env.py: 1075]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.423, -0.167)	[env.py: 1079]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg	[env.py: 1082]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:48 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:48 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 23:01:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:52 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:52 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 77.475[deg]	[grasp_sample.py: 539]
+05/13 23:01:53 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:54 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 23:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:54 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 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191764m	[env.py: 870]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22281794 -1.08466028 -0.19176442] yaw=-16.6deg	[env.py: 1019]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=299.7ms, total=299.8ms	[env.py: 1075]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -1.085, -0.192)	[env.py: 1079]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.6 deg	[env.py: 1082]
+05/13 23:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:54 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:55 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 23:01:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:03 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:02:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:03 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:02:05 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:02:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:05 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 23:02:06 INFO: [Worker 0] Feasibility-checked 234 grasps in 11.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:02:06 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.717[m] 82.900[deg]	[grasp_sample.py: 539]
+05/13 23:02:07 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:02:08 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:02:08 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:02:08 INFO: [Worker 0] Worker 0 completed house 1: 17/20 successful episodes	[pipeline.py: 1323]
+05/13 23:02:08 INFO: [Worker 0] [PROFILE] House 1 complete: 17/20 successful, 20 episodes, total_time=4597.24s
+  House averages:
+  episode_total: mean=37.30s, total=2685.65s, count=72, min=201.6ms, max=146575.9ms
+  sensor_polling: mean=305.3ms, total=1539.44s, count=5043, min=269.4ms, max=833.2ms
+  save_trajectories: mean=8.34s, total=141.79s, count=17, min=7570.2ms, max=9234.7ms
+  physics_step: mean=19.6ms, total=98.85s, count=5043, min=11.9ms, max=59.0ms
+  save_batch_prep: mean=3.57s, total=60.71s, count=17, min=3304.0ms, max=3785.0ms
+  task_specific_sample: mean=429.2ms, total=30.91s, count=72, min=197.1ms, max=932.4ms
+  task_sampling: mean=445.5ms, total=28.96s, count=65, min=283.8ms, max=935.8ms
+  task_sampling_failed: mean=676.0ms, total=4.73s, count=7, min=201.6ms, max=2936.4ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2563.9ms, max=2563.9ms
+  scene_env_create: mean=1.58s, total=1.58s, count=1, min=1584.5ms, max=1584.5ms
+  scene_compile: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
+  compile_mujoco: mean=564.2ms, total=564.2ms, count=1, min=564.2ms, max=564.2ms
+  compile_xml_load: mean=205.8ms, total=205.8ms, count=1, min=205.8ms, max=205.8ms
+  scene_randomize: mean=1.5ms, total=106.2ms, count=72, min=1.0ms, max=2.7ms
+  scene_init: mean=89.2ms, total=89.2ms, count=1, min=89.2ms, max=89.2ms
+  compile_aux_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_policy_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  mj_forward_sync: mean=402.0us, total=28.9ms, count=72, min=0.3ms, max=0.5ms
+  asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  compile_robot_add: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=14.3us, total=0.9ms, count=65, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:02:08 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:02:08 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=4597.24s
+  Worker averages:
+  episode_total: mean=37.30s, total=2685.65s, count=72, min=201.6ms, max=146575.9ms
+  sensor_polling: mean=305.3ms, total=1539.44s, count=5043, min=269.4ms, max=833.2ms
+  save_trajectories: mean=8.34s, total=141.79s, count=17, min=7570.2ms, max=9234.7ms
+  physics_step: mean=19.6ms, total=98.85s, count=5043, min=11.9ms, max=59.0ms
+  save_batch_prep: mean=3.57s, total=60.71s, count=17, min=3304.0ms, max=3785.0ms
+  task_specific_sample: mean=429.2ms, total=30.91s, count=72, min=197.1ms, max=932.4ms
+  task_sampling: mean=445.5ms, total=28.96s, count=65, min=283.8ms, max=935.8ms
+  task_sampling_failed: mean=676.0ms, total=4.73s, count=7, min=201.6ms, max=2936.4ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2563.9ms, max=2563.9ms
+  scene_env_create: mean=1.58s, total=1.58s, count=1, min=1584.5ms, max=1584.5ms
+  scene_compile: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
+  compile_mujoco: mean=564.2ms, total=564.2ms, count=1, min=564.2ms, max=564.2ms
+  compile_xml_load: mean=205.8ms, total=205.8ms, count=1, min=205.8ms, max=205.8ms
+  scene_randomize: mean=1.5ms, total=106.2ms, count=72, min=1.0ms, max=2.7ms
+  scene_init: mean=89.2ms, total=89.2ms, count=1, min=89.2ms, max=89.2ms
+  compile_aux_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_policy_objects: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  mj_forward_sync: mean=402.0us, total=28.9ms, count=72, min=0.3ms, max=0.5ms
+  asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  compile_robot_add: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=14.3us, total=0.9ms, count=65, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:02:11 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:02:11 INFO: Success count: 17, Total count: 20	[pipeline.py: 1491]
+05/13 23:02:11 INFO: Success rate: 85.00%	[pipeline.py: 1492]
+05/13 23:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:02:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:02:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.19s (batch: 3.68s, save: 7.51s)	[pipeline.py: 300]
+05/13 23:02:15 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.80s:
+  episode_total: mean=49.96s, total=149.89s, count=3, min=446.6ms, max=146510.0ms
+  sensor_polling: mean=379.0ms, total=100.80s, count=266, min=292.3ms, max=780.6ms
+  save_trajectories: mean=7.51s, total=7.51s, count=1, min=7507.8ms, max=7507.8ms
+  physics_step: mean=23.2ms, total=6.17s, count=266, min=17.4ms, max=93.1ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3678.8ms, max=3678.8ms
+  task_specific_sample: mean=409.0ms, total=1.23s, count=3, min=328.8ms, max=468.6ms
+  task_sampling: mean=401.6ms, total=803.1ms, count=2, min=330.9ms, max=472.2ms
+  task_sampling_failed: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
+  scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=425.1us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.5us, 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 23:02:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:02:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:02:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.14s (batch: 3.48s, save: 7.66s)	[pipeline.py: 300]
+05/13 23:02:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:16 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 23:02:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:16 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 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104462m	[env.py: 870]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.6ms, total=218.6ms	[env.py: 1105]
+05/13 23:02:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:02:16 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:02:17 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=3.05s:
+  episode_total: mean=42.31s, total=253.87s, count=6, min=2095.2ms, max=132348.5ms
+  sensor_polling: mean=355.7ms, total=148.70s, count=418, min=267.2ms, max=745.2ms
+  physics_step: mean=22.5ms, total=9.39s, count=418, min=14.7ms, max=68.2ms
+  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7664.0ms, max=7664.0ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3480.9ms, max=3480.9ms
+  task_sampling: mean=508.7ms, total=3.05s, count=6, min=402.9ms, max=671.3ms
+  task_specific_sample: mean=504.5ms, total=3.03s, count=6, min=399.2ms, max=667.5ms
+  scene_randomize: mean=1.7ms, total=10.4ms, count=6, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=451.7us, total=2.7ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.0us, 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 23:02:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:17 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 23:02:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:17 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 23:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140104m	[env.py: 870]
+05/13 23:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56293342 -0.95056936 -0.14010371] yaw=-64.7deg	[env.py: 1019]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66509074 -0.75914289 -0.14010371] yaw=-68.9deg	[env.py: 1019]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.88173809 -0.68009616 -0.14010371] yaw=-87.3deg	[env.py: 1019]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:02:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms	[env.py: 1075]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.951, -0.140)	[env.py: 1079]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/13 23:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 23:02:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:02:18 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:02:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:02:18 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 23:02:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:02:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:19 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 23:02:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:19 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 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129694m	[env.py: 870]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05727891 -1.27339711 -0.12969374] yaw=-40.5deg	[env.py: 1019]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64230058 -0.87392073 -0.12969374] yaw=-44.4deg	[env.py: 1019]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.80297758 -0.93726921 -0.12969374] yaw=-97.1deg	[env.py: 1019]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:02:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms	[env.py: 1075]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.057, -1.273, -0.130)	[env.py: 1079]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg	[env.py: 1082]
+05/13 23:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:02:19 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:02:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:02:19 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 23:02:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:02:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.120s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:02:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.627[m] 92.659[deg]	[grasp_sample.py: 539]
+05/13 23:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:02:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:02:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:20 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 23:02:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.963s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:02:21 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:02:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:22 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 23:02:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:22 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 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180754m	[env.py: 870]
+05/13 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29114903 -1.00842407 -0.18075371] yaw=-47.5deg	[env.py: 1019]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2604552  -1.0603024  -0.18075371] yaw=-52.5deg	[env.py: 1019]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:02:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=569.7ms, total=569.7ms	[env.py: 1075]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.008, -0.181)	[env.py: 1079]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg	[env.py: 1082]
+05/13 23:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/13 23:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:02:23 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:02:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:02:23 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 23:02:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:02:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:02:29 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.706[m] 97.056[deg]	[grasp_sample.py: 539]
+05/13 23:02:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:02:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:02:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:30 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 23:03:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:03:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:03:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:04 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:04:08 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:04:24 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:04:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:04:24 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:04:30 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:04:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:04:30 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 23:04:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:04:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.11s (batch: 3.52s, save: 7.59s)	[pipeline.py: 300]
+05/13 23:04:36 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.54s:
+  episode_total: mean=69.40s, total=138.80s, count=2, min=229.0ms, max=138575.2ms
+  sensor_polling: mean=361.5ms, total=93.98s, count=260, min=294.6ms, max=790.9ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.1ms, max=7589.1ms
+  physics_step: mean=21.3ms, total=5.55s, count=260, min=13.4ms, max=29.8ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.2ms, max=3524.2ms
+  task_specific_sample: mean=379.8ms, total=759.5ms, count=2, min=224.2ms, max=535.3ms
+  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  task_sampling_failed: mean=229.0ms, total=229.0ms, count=1, min=229.0ms, max=229.0ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=390.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:04:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:37 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 23:04:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:37 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 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130360m	[env.py: 870]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42243997 -0.86599014 -0.13035967] yaw=-85.3deg	[env.py: 1019]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41619458 -0.95897651 -0.13035967] yaw=-47.7deg	[env.py: 1019]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36215952 -0.97618938 -0.13035967] yaw=-41.6deg	[env.py: 1019]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.4ms, total=128.5ms	[env.py: 1075]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.866, -0.130)	[env.py: 1079]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.3 deg	[env.py: 1082]
+05/13 23:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:38 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:38 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 23:04:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:04:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.29s (batch: 6.04s, save: 8.26s)	[pipeline.py: 300]
+05/13 23:04:45 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.21s:
+  episode_total: mean=72.66s, total=145.32s, count=2, min=2580.3ms, max=142742.0ms
+  sensor_polling: mean=326.9ms, total=90.88s, count=278, min=283.7ms, max=668.7ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8257.3ms, max=8257.3ms
+  save_batch_prep: mean=6.04s, total=6.04s, count=1, min=6037.4ms, max=6037.4ms
+  physics_step: mean=20.9ms, total=5.80s, count=278, min=17.2ms, max=29.0ms
+  task_sampling: mean=604.1ms, total=1.21s, count=2, min=420.4ms, max=787.7ms
+  task_specific_sample: mean=600.7ms, total=1.20s, count=2, min=416.7ms, max=784.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms
+  mj_forward_sync: mean=387.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:04:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:47 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 23:04:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:47 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 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136309m	[env.py: 870]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79045687 -0.69198579 -0.13630897] yaw=-101.0deg	[env.py: 1019]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19176055 -1.41302482 -0.13630897] yaw=1.8deg	[env.py: 1019]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.7ms	[env.py: 1075]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.790, -0.692, -0.136)	[env.py: 1079]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.0 deg	[env.py: 1082]
+05/13 23:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:47 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:47 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 23:04:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:48 INFO: [Worker 0] Feasibility-checked 242 grasps in 10.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:48 INFO: [Worker 0] Feasible grasp found 319 (originally 12): w/ 0.826[m] 108.050[deg]	[grasp_sample.py: 539]
+05/13 23:04:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:04:50 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.223s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:04:50 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:51 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 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183015m	[env.py: 870]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00915893 -1.28638846 -0.18301467] yaw=-6.6deg	[env.py: 1019]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.1ms	[env.py: 1075]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.286, -0.183)	[env.py: 1079]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.6 deg	[env.py: 1082]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:51 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:51 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 23:04:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:51 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 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119631m	[env.py: 870]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57467022 -0.93974848 -0.11963068] yaw=-39.7deg	[env.py: 1019]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91621769 -0.81394691 -0.11963068] yaw=-97.1deg	[env.py: 1019]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16630687 -1.27218533 -0.11963068] yaw=-53.4deg	[env.py: 1019]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms	[env.py: 1075]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.940, -0.120)	[env.py: 1079]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg	[env.py: 1082]
+05/13 23:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 23:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:52 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:52 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 23:04:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:53 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.202s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.707[m] 84.305[deg]	[grasp_sample.py: 539]
+05/13 23:04:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:53 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.328s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:04:53 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:04:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:54 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 23:04:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:55 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 23:04:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:55 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 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183185m	[env.py: 870]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34230217 -1.19559403 -0.18318472] yaw=-29.3deg	[env.py: 1019]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69461352 -0.97161429 -0.18318472] yaw=-53.2deg	[env.py: 1019]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=639.0ms, total=639.1ms	[env.py: 1075]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.196, -0.183)	[env.py: 1079]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg	[env.py: 1082]
+05/13 23:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:56 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:56 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 23:04:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:58 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:58 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.586[m] 92.421[deg]	[grasp_sample.py: 539]
+05/13 23:04:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:59 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 23:05:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:05:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:05:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:05:56 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 23:05:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 125 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:02 INFO: [Worker 0] Feasibility-checked 125 grasps in 5.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:02 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.052[m] 7.373[deg]	[grasp_sample.py: 539]
+05/13 23:06:03 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:04 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 23:06:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:04 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 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186277m	[env.py: 870]
+05/13 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06538226 -1.14685548 -0.18627681] yaw=-33.3deg	[env.py: 1019]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.8ms	[env.py: 1075]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.065, -1.147, -0.186)	[env.py: 1079]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg	[env.py: 1082]
+05/13 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:05 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:05 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 23:06:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:07 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.835s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:06:07 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:06:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:09 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 23:06:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:09 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 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163300m	[env.py: 870]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.8ms, total=219.9ms	[env.py: 1105]
+05/13 23:06:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:06:09 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:11 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 23:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:11 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 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110813m	[env.py: 870]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79836295 -0.65565562 -0.11081313] yaw=-88.8deg	[env.py: 1019]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29881983 -1.06020362 -0.11081313] yaw=-21.7deg	[env.py: 1019]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07269011 -1.38403228 -0.11081313] yaw=-18.7deg	[env.py: 1019]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=142.6ms, total=142.6ms	[env.py: 1075]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.798, -0.656, -0.111)	[env.py: 1079]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.8 deg	[env.py: 1082]
+05/13 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:11 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:11 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 23:06:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:13 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.226s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:06:13 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:15 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 23:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:15 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 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119242m	[env.py: 870]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19387474 -1.40296906 -0.11924223] yaw=-45.2deg	[env.py: 1019]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66920963 -0.88368019 -0.11924223] yaw=-68.4deg	[env.py: 1019]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.0ms, total=194.1ms	[env.py: 1075]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.403, -0.119)	[env.py: 1079]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg	[env.py: 1082]
+05/13 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:15 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:16 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 23:06:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:16 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.655[m] 84.412[deg]	[grasp_sample.py: 539]
+05/13 23:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:17 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 23:06:24 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:43 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:06:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:43 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 23:06:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:06:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.73s (batch: 4.52s, save: 7.21s)	[pipeline.py: 300]
+05/13 23:06:55 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.60s:
+  episode_total: mean=45.15s, total=135.44s, count=3, min=2903.9ms, max=120468.1ms
+  sensor_polling: mean=311.6ms, total=79.15s, count=254, min=292.6ms, max=709.8ms
+  save_trajectories: mean=7.21s, total=7.21s, count=1, min=7212.1ms, max=7212.1ms
+  physics_step: mean=19.3ms, total=4.91s, count=254, min=13.2ms, max=27.6ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.6ms, max=4521.6ms
+  task_sampling: mean=532.8ms, total=1.60s, count=3, min=373.2ms, max=830.5ms
+  task_specific_sample: mean=529.5ms, total=1.59s, count=3, min=369.8ms, max=828.0ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.0ms, max=2.3ms
+  mj_forward_sync: mean=390.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.9us, 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 23:06:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:57 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 23:06:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:57 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 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170981m	[env.py: 870]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69543949 -0.7567331  -0.17098114] yaw=-99.1deg	[env.py: 1019]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.2ms	[env.py: 1075]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.695, -0.757, -0.171)	[env.py: 1079]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.1 deg	[env.py: 1082]
+05/13 23:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:57 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:57 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 23:06:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:01 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.779[m] 91.706[deg]	[grasp_sample.py: 539]
+05/13 23:07:02 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:07:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:03 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 23:07:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:03 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 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110966m	[env.py: 870]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44903132 -0.97007518 -0.11096601] yaw=-48.5deg	[env.py: 1019]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32251647 -1.08809812 -0.11096601] yaw=-56.1deg	[env.py: 1019]
+05/13 23:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=195.2ms, total=195.2ms	[env.py: 1075]
+05/13 23:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -0.970, -0.111)	[env.py: 1079]
+05/13 23:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg	[env.py: 1082]
+05/13 23:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 23:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:04 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:04 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 23:07:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:07:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.690[m] 91.505[deg]	[grasp_sample.py: 539]
+05/13 23:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:07 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 23:07:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:46 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:07:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:08:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:07 INFO: [Worker 0] Object is not in grasp! 0.00110 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:08:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:07 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 23:08:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 106 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:07 INFO: [Worker 0] Feasibility-checked 106 grasps in 0.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:07 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 3.007[deg]	[grasp_sample.py: 539]
+05/13 23:08:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:08 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:08:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:08:08 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 23:08:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:08:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:08:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:08:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.32s (batch: 4.15s, save: 8.17s)	[pipeline.py: 300]
+05/13 23:08:21 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=2.06s:
+  episode_total: mean=34.28s, total=205.68s, count=6, min=230.3ms, max=126084.4ms
+  sensor_polling: mean=311.1ms, total=131.91s, count=424, min=278.6ms, max=599.0ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8174.0ms, max=8174.0ms
+  physics_step: mean=19.1ms, total=8.08s, count=424, min=13.3ms, max=30.3ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4148.6ms, max=4148.6ms
+  task_specific_sample: mean=378.1ms, total=2.27s, count=6, min=224.8ms, max=545.6ms
+  task_sampling: mean=412.4ms, total=2.06s, count=5, min=320.8ms, max=552.0ms
+  task_sampling_failed: mean=230.3ms, total=230.3ms, count=1, min=230.3ms, max=230.3ms
+  scene_randomize: mean=2.0ms, total=11.9ms, count=6, min=1.1ms, max=5.1ms
+  mj_forward_sync: mean=400.0us, total=2.4ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, 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 23:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:23 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 23:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:23 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 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140670m	[env.py: 870]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32844985 -1.04755037 -0.14067028] yaw=-33.4deg	[env.py: 1019]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39225471 -0.87299826 -0.14067028] yaw=-44.4deg	[env.py: 1019]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=303.5ms, total=303.5ms	[env.py: 1075]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.048, -0.141)	[env.py: 1079]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg	[env.py: 1082]
+05/13 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:23 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:23 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 23:08:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:27 INFO: [Worker 0] Feasibility-checked 238 grasps in 3.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:27 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.707[m] 77.986[deg]	[grasp_sample.py: 539]
+05/13 23:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:29 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 23:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:29 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 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184185m	[env.py: 870]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09626877 -1.13686426 -0.18418527] yaw=-60.7deg	[env.py: 1019]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22961148 -0.97660179 -0.18418527] yaw=-34.4deg	[env.py: 1019]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.0ms, total=281.0ms	[env.py: 1075]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.137, -0.184)	[env.py: 1079]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg	[env.py: 1082]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:30 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:30 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 23:08:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.243s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:32 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:34 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 23:08:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:34 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 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186927m	[env.py: 870]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83221425 -0.68195962 -0.18692747] yaw=-112.0deg	[env.py: 1019]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.6ms, total=217.7ms	[env.py: 1075]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.832, -0.682, -0.187)	[env.py: 1079]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.0 deg	[env.py: 1082]
+05/13 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:34 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:34 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 23:08:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.187s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:38 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 23:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:38 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 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129645m	[env.py: 870]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32742415 -0.8362232  -0.12964508] yaw=-48.8deg	[env.py: 1019]
+05/13 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.5ms, total=188.6ms	[env.py: 1075]
+05/13 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -0.836, -0.130)	[env.py: 1079]
+05/13 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg	[env.py: 1082]
+05/13 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:39 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:39 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 23:08:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.177s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:41 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:43 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 23:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:43 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 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146621m	[env.py: 870]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.88057477 -0.82231099 -0.14662126] yaw=-84.0deg	[env.py: 1019]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65472222 -0.97541871 -0.14662126] yaw=-66.2deg	[env.py: 1019]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.0ms, total=192.0ms	[env.py: 1075]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.881, -0.822, -0.147)	[env.py: 1079]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.0 deg	[env.py: 1082]
+05/13 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:43 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:43 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 23:08:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:44 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:44 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.666[m] 102.359[deg]	[grasp_sample.py: 539]
+05/13 23:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:45 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 23:08:51 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:08 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 23:09:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:09 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:09 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.507[m] 71.240[deg]	[grasp_sample.py: 539]
+05/13 23:09:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:13 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:09:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:09:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:20 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 23:09:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:21 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:21 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.507[m] 71.240[deg]	[grasp_sample.py: 539]
+05/13 23:09:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:09:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:09:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.96s (batch: 3.85s, save: 9.11s)	[pipeline.py: 300]
+05/13 23:09:26 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.85s:
+  episode_total: mean=74.13s, total=148.25s, count=2, min=5346.7ms, max=142907.9ms
+  sensor_polling: mean=321.9ms, total=96.57s, count=300, min=291.7ms, max=676.8ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9108.9ms, max=9108.9ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=13.6ms, max=60.4ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.2ms, max=3849.2ms
+  task_sampling: mean=424.7ms, total=849.5ms, count=2, min=396.5ms, max=452.9ms
+  task_specific_sample: mean=420.7ms, total=841.4ms, count=2, min=391.8ms, max=449.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms
+  mj_forward_sync: mean=385.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, 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 23:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:28 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 23:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:28 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 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175913m	[env.py: 870]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40495807 -1.10380534 -0.17591275] yaw=-51.5deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14488446 -1.04126811 -0.17591275] yaw=-36.7deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38227745 -1.0259005  -0.17591275] yaw=-70.7deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.6ms	[env.py: 1075]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -1.104, -0.176)	[env.py: 1079]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg	[env.py: 1082]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:28 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:28 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 23:09:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.959s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.593[m] 87.559[deg]	[grasp_sample.py: 539]
+05/13 23:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:30 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 23:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:32 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 23:09:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:33 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.246s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:33 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.507[m] 71.240[deg]	[grasp_sample.py: 539]
+05/13 23:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:09:44 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:09:44 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=2.26s:
+  episode_total: mean=14.87s, total=74.37s, count=5, min=2751.3ms, max=61044.1ms
+  sensor_polling: mean=308.8ms, total=23.47s, count=76, min=285.5ms, max=402.9ms
+  task_sampling: mean=451.5ms, total=2.26s, count=5, min=382.4ms, max=580.1ms
+  task_specific_sample: mean=448.5ms, total=2.24s, count=5, min=379.5ms, max=576.4ms
+  physics_step: mean=16.9ms, total=1.28s, count=76, min=11.9ms, max=26.7ms
+  scene_randomize: mean=1.4ms, total=7.0ms, count=5, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=392.6us, total=2.0ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, 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 23:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:46 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 23:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:46 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 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179539m	[env.py: 870]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67277951 -0.9559372  -0.17953877] yaw=-65.5deg	[env.py: 1019]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.1ms, total=215.2ms	[env.py: 1075]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.956, -0.180)	[env.py: 1079]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg	[env.py: 1082]
+05/13 23:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:46 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:46 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 23:09:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:47 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.551[m] 82.143[deg]	[grasp_sample.py: 539]
+05/13 23:09:48 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:50 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 23:09:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:50 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 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191579m	[env.py: 870]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65393718 -0.6774631  -0.19157872] yaw=-96.1deg	[env.py: 1019]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33295734 -1.03393666 -0.19157872] yaw=-70.9deg	[env.py: 1019]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73903156 -0.74551763 -0.19157872] yaw=-100.7deg	[env.py: 1019]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.3ms	[env.py: 1075]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.677, -0.192)	[env.py: 1079]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.1 deg	[env.py: 1082]
+05/13 23:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:50 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:51 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 23:09:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.319s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:09:53 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:09:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:55 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 23:09:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:55 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 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189694m	[env.py: 870]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39837577 -1.10507201 -0.18969411] yaw=-46.2deg	[env.py: 1019]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.105, -0.190)	[env.py: 1079]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg	[env.py: 1082]
+05/13 23:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:55 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:55 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 23:09:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.583[m] 99.920[deg]	[grasp_sample.py: 539]
+05/13 23:09:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:58 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 23:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:10:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:58 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:16 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:11:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:16 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 23:11:25 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:11:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.15s (batch: 3.53s, save: 7.62s)	[pipeline.py: 300]
+05/13 23:11:27 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.36s:
+  episode_total: mean=119.81s, total=119.81s, count=1, min=119811.0ms, max=119811.0ms
+  sensor_polling: mean=323.3ms, total=81.48s, count=252, min=299.5ms, max=708.2ms
+  save_trajectories: mean=7.62s, total=7.62s, count=1, min=7617.9ms, max=7617.9ms
+  physics_step: mean=19.8ms, total=5.00s, count=252, min=14.1ms, max=25.9ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.5ms, max=3532.5ms
+  task_sampling: mean=360.2ms, total=360.2ms, count=1, min=360.2ms, max=360.2ms
+  task_specific_sample: mean=356.7ms, total=356.7ms, count=1, min=356.7ms, max=356.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=403.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, 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 23:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:29 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 23:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:29 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 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110538m	[env.py: 870]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85905847 -0.92300701 -0.11053834] yaw=-77.8deg	[env.py: 1019]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7169519  -0.89206509 -0.11053834] yaw=-87.4deg	[env.py: 1019]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64683253 -0.68635084 -0.11053834] yaw=-97.8deg	[env.py: 1019]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.0ms, total=132.1ms	[env.py: 1075]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.859, -0.923, -0.111)	[env.py: 1079]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg	[env.py: 1082]
+05/13 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:29 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:29 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 23:11:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:31 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.622[m] 99.700[deg]	[grasp_sample.py: 539]
+05/13 23:11:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:44 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:44 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 23:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:11:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:11:54 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 23:11:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.476[m] 69.588[deg]	[grasp_sample.py: 539]
+05/13 23:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:11:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.35s (batch: 4.32s, save: 8.02s)	[pipeline.py: 300]
+05/13 23:11:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:58 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=1.35s:
+  episode_total: mean=42.82s, total=128.46s, count=3, min=2668.0ms, max=122883.1ms
+  sensor_polling: mean=307.9ms, total=78.21s, count=254, min=281.6ms, max=557.0ms
+  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8021.4ms, max=8021.4ms
+  physics_step: mean=19.5ms, total=4.96s, count=254, min=13.8ms, max=27.2ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.5ms, max=4323.5ms
+  task_sampling: mean=450.5ms, total=1.35s, count=3, min=413.9ms, max=523.6ms
+  task_specific_sample: mean=445.9ms, total=1.34s, count=3, min=406.2ms, max=520.5ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=393.0us, total=1.2ms, count=3, min=0.3ms, max=0.5ms
+  policy_setup: mean=20.2us, 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 23:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:00 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 23:12:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:00 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 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159713m	[env.py: 870]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.86811495 -0.77885215 -0.15971317] yaw=-64.7deg	[env.py: 1019]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms	[env.py: 1075]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.868, -0.779, -0.160)	[env.py: 1079]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/13 23:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:00 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:01 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 23:12:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.977s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:03 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.691[m] 84.668[deg]	[grasp_sample.py: 539]
+05/13 23:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:04 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 23:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:12:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:12:07 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 23:12:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.476[m] 69.588[deg]	[grasp_sample.py: 539]
+05/13 23:12:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:12:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:12:21 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 23:12:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.047s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.476[m] 69.588[deg]	[grasp_sample.py: 539]
+05/13 23:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:12:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:12:39 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:12:39 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.38s:
+  episode_total: mean=70.53s, total=70.53s, count=1, min=70526.0ms, max=70526.0ms
+  sensor_polling: mean=341.5ms, total=24.93s, count=73, min=297.3ms, max=623.7ms
+  physics_step: mean=17.3ms, total=1.26s, count=73, min=12.2ms, max=24.5ms
+  task_sampling: mean=377.3ms, total=377.3ms, count=1, min=377.3ms, max=377.3ms
+  task_specific_sample: mean=373.9ms, total=373.9ms, count=1, min=373.9ms, max=373.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=395.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, 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 23:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:41 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 23:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:41 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 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153255m	[env.py: 870]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49285749 -1.03703206 -0.15325497] yaw=-81.9deg	[env.py: 1019]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.77192942 -0.86287279 -0.15325497] yaw=-72.0deg	[env.py: 1019]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13419164 -1.38794447 -0.15325497] yaw=-27.0deg	[env.py: 1019]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.0ms, total=415.0ms	[env.py: 1075]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -1.037, -0.153)	[env.py: 1079]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.9 deg	[env.py: 1082]
+05/13 23:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:42 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:42 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 23:12:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:43 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:43 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.613[m] 98.711[deg]	[grasp_sample.py: 539]
+05/13 23:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:44 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 23:12:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:13:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:13:01 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 23:13:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:36 INFO: [Worker 0] Feasibility-checked 242 grasps in 35.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:36 INFO: [Worker 0] Feasible grasp found 201 (originally 201): w/ 0.079[m] 18.794[deg]	[grasp_sample.py: 539]
+05/13 23:13:37 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:39 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 23:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:39 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 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157844m	[env.py: 870]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=464.9ms, total=464.9ms	[env.py: 1105]
+05/13 23:13:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:13:39 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 23:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:41 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 23:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:41 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 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118167m	[env.py: 870]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21693294 -1.32432082 -0.11816719] yaw=-18.3deg	[env.py: 1019]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=373.7ms, total=373.7ms	[env.py: 1075]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.324, -0.118)	[env.py: 1079]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.3 deg	[env.py: 1082]
+05/13 23:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:41 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:41 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 23:13:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:44 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:44 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.634[m] 73.784[deg]	[grasp_sample.py: 539]
+05/13 23:13:45 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:47 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 23:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:47 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 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116559m	[env.py: 870]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18484631 -1.4252554  -0.11655868] yaw=-43.8deg	[env.py: 1019]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41243963 -0.99733083 -0.11655868] yaw=-48.6deg	[env.py: 1019]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.5ms, total=265.5ms	[env.py: 1075]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.425, -0.117)	[env.py: 1079]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg	[env.py: 1082]
+05/13 23:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:48 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:48 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 23:13:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.151s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.647[m] 78.838[deg]	[grasp_sample.py: 539]
+05/13 23:13:52 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:54 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 23:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:54 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 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142054m	[env.py: 870]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46642306 -0.99227179 -0.14205353] yaw=-32.3deg	[env.py: 1019]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms	[env.py: 1075]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -0.992, -0.142)	[env.py: 1079]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg	[env.py: 1082]
+05/13 23:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:54 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:54 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 23:13:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:00 INFO: [Worker 0] Feasibility-checked 240 grasps in 5.181s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:00 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.696[m] 89.712[deg]	[grasp_sample.py: 539]
+05/13 23:14:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:01 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 23:14:19 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:14:38 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:14:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:14:38 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 23:14:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:14:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:14:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.20s (batch: 3.48s, save: 7.72s)	[pipeline.py: 300]
+05/13 23:14:50 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.72s:
+  episode_total: mean=129.40s, total=129.40s, count=1, min=129400.1ms, max=129400.1ms
+  sensor_polling: mean=327.5ms, total=82.85s, count=253, min=297.1ms, max=718.4ms
+  save_trajectories: mean=7.72s, total=7.72s, count=1, min=7719.9ms, max=7719.9ms
+  physics_step: mean=20.5ms, total=5.18s, count=253, min=18.1ms, max=57.7ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3481.8ms, max=3481.8ms
+  task_sampling: mean=717.2ms, total=717.2ms, count=1, min=717.2ms, max=717.2ms
+  task_specific_sample: mean=713.5ms, total=713.5ms, count=1, min=713.5ms, max=713.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:14:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:51 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 23:14:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:51 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 23:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138903m	[env.py: 870]
+05/13 23:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36613635 -1.12153377 -0.1389029 ] yaw=-52.2deg	[env.py: 1019]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22017347 -0.92426681 -0.1389029 ] yaw=-66.4deg	[env.py: 1019]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39430547 -0.85567508 -0.1389029 ] yaw=-39.7deg	[env.py: 1019]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.5ms	[env.py: 1075]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.122, -0.139)	[env.py: 1079]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg	[env.py: 1082]
+05/13 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/13 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:52 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:52 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 23:14:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:14:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.611[m] 76.885[deg]	[grasp_sample.py: 539]
+05/13 23:14:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:55 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 23:14:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:00 INFO: [Worker 0] Object is not in grasp! 0.00176 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:15:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:15:00 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 23:15:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:15:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 118 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:15:01 INFO: [Worker 0] Feasibility-checked 118 grasps in 0.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:15:01 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.044[m] 2.167[deg]	[grasp_sample.py: 539]
+05/13 23:15:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:15:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:15:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:15:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:41 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:15:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:15:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:02 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:16:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:16:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:16:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:16:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:16:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.73s (batch: 4.53s, save: 9.20s)	[pipeline.py: 300]
+05/13 23:16:16 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=2.24s:
+  episode_total: mean=49.78s, total=248.88s, count=5, min=484.5ms, max=142421.8ms
+  sensor_polling: mean=314.4ms, total=136.77s, count=435, min=278.6ms, max=634.5ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9199.4ms, max=9199.4ms
+  physics_step: mean=19.6ms, total=8.50s, count=435, min=13.8ms, max=29.1ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4534.0ms, max=4534.0ms
+  task_specific_sample: mean=537.7ms, total=2.69s, count=5, min=432.2ms, max=702.0ms
+  task_sampling: mean=559.0ms, total=2.24s, count=4, min=435.4ms, max=705.7ms
+  task_sampling_failed: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms
+  scene_randomize: mean=2.3ms, total=11.7ms, count=5, min=1.0ms, max=4.9ms
+  mj_forward_sync: mean=433.1us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.4us, 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 23:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:16:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:16:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:16:18 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 23:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:16:18 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 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161188m	[env.py: 870]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.6ms, total=204.7ms	[env.py: 1105]
+05/13 23:16:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:16:18 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:16:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:16:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:16:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:16:20 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 23:16:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:16:20 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 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163614m	[env.py: 870]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:16:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19830608 -1.04346458 -0.16361374] yaw=-68.6deg	[env.py: 1019]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:16:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms	[env.py: 1075]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.043, -0.164)	[env.py: 1079]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg	[env.py: 1082]
+05/13 23:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:16:20 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:16:20 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 23:16:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:16:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:16:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.107s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:16:23 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:16:24 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:16:24 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:16:24 INFO: [Worker 0] Worker 0 completed house 1: 20/22 successful episodes	[pipeline.py: 1323]
+05/13 23:16:24 INFO: [Worker 0] [PROFILE] House 1 complete: 20/22 successful, 22 episodes, total_time=6071.78s
+  House averages:
+  episode_total: mean=48.61s, total=3499.81s, count=72, min=209.6ms, max=163455.9ms
+  sensor_polling: mean=337.8ms, total=2095.72s, count=6204, min=267.2ms, max=833.1ms
+  save_trajectories: mean=8.66s, total=173.23s, count=20, min=7640.0ms, max=10056.6ms
+  physics_step: mean=21.3ms, total=131.99s, count=6204, min=11.9ms, max=102.9ms
+  save_batch_prep: mean=4.59s, total=91.78s, count=20, min=3480.9ms, max=6530.9ms
+  task_sampling: mean=553.7ms, total=35.44s, count=64, min=320.8ms, max=2978.5ms
+  task_specific_sample: mean=485.6ms, total=34.96s, count=72, min=203.8ms, max=974.6ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2555.5ms, max=2555.5ms
+  task_sampling_failed: mean=298.1ms, total=2.38s, count=8, min=209.6ms, max=484.5ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1448.8ms, max=1448.8ms
+  scene_compile: mean=974.1ms, total=974.1ms, count=1, min=974.1ms, max=974.1ms
+  compile_mujoco: mean=549.1ms, total=549.1ms, count=1, min=549.1ms, max=549.1ms
+  compile_xml_load: mean=240.1ms, total=240.1ms, count=1, min=240.1ms, max=240.1ms
+  compile_aux_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  compile_aux_policy_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  scene_randomize: mean=2.0ms, total=142.4ms, count=72, min=1.0ms, max=6.0ms
+  scene_init: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  scene_asset_install: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  mj_forward_sync: mean=453.0us, total=32.6ms, count=72, min=0.3ms, max=0.7ms
+  asset_install_grasps: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  compile_robot_add: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=21.0us, total=1.3ms, count=64, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:16:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:16:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=6071.78s
+  Worker averages:
+  episode_total: mean=48.61s, total=3499.81s, count=72, min=209.6ms, max=163455.9ms
+  sensor_polling: mean=337.8ms, total=2095.72s, count=6204, min=267.2ms, max=833.1ms
+  save_trajectories: mean=8.66s, total=173.23s, count=20, min=7640.0ms, max=10056.6ms
+  physics_step: mean=21.3ms, total=131.99s, count=6204, min=11.9ms, max=102.9ms
+  save_batch_prep: mean=4.59s, total=91.78s, count=20, min=3480.9ms, max=6530.9ms
+  task_sampling: mean=553.7ms, total=35.44s, count=64, min=320.8ms, max=2978.5ms
+  task_specific_sample: mean=485.6ms, total=34.96s, count=72, min=203.8ms, max=974.6ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2555.5ms, max=2555.5ms
+  task_sampling_failed: mean=298.1ms, total=2.38s, count=8, min=209.6ms, max=484.5ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1448.8ms, max=1448.8ms
+  scene_compile: mean=974.1ms, total=974.1ms, count=1, min=974.1ms, max=974.1ms
+  compile_mujoco: mean=549.1ms, total=549.1ms, count=1, min=549.1ms, max=549.1ms
+  compile_xml_load: mean=240.1ms, total=240.1ms, count=1, min=240.1ms, max=240.1ms
+  compile_aux_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  compile_aux_policy_objects: mean=159.6ms, total=159.6ms, count=1, min=159.6ms, max=159.6ms
+  scene_randomize: mean=2.0ms, total=142.4ms, count=72, min=1.0ms, max=6.0ms
+  scene_init: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  scene_asset_install: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  mj_forward_sync: mean=453.0us, total=32.6ms, count=72, min=0.3ms, max=0.7ms
+  asset_install_grasps: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  compile_robot_add: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=21.0us, total=1.3ms, count=64, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:16:27 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:16:27 INFO: Success count: 20, Total count: 22	[pipeline.py: 1491]
+05/13 23:16:27 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/13 23:16:29 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:16:50 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:16:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:16:50 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 23:17:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:17:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:17:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.88s (batch: 4.03s, save: 7.85s)	[pipeline.py: 300]
+05/13 23:17:02 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.48s:
+  episode_total: mean=130.64s, total=130.64s, count=1, min=130636.5ms, max=130636.5ms
+  sensor_polling: mean=340.2ms, total=87.08s, count=256, min=295.8ms, max=696.8ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7846.6ms, max=7846.6ms
+  physics_step: mean=21.5ms, total=5.51s, count=256, min=18.1ms, max=39.8ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.0ms, max=4033.0ms
+  task_sampling: mean=479.2ms, total=479.2ms, count=1, min=479.2ms, max=479.2ms
+  task_specific_sample: mean=475.7ms, total=475.7ms, count=1, min=475.7ms, max=475.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, 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=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:17:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:03 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 23:17:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:03 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 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141820m	[env.py: 870]
+05/13 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17940658 -1.04865672 -0.14181973] yaw=-64.3deg	[env.py: 1019]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88750781 -0.85921474 -0.14181973] yaw=-84.4deg	[env.py: 1019]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29935407 -1.22370402 -0.14181973] yaw=-48.1deg	[env.py: 1019]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms	[env.py: 1075]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.049, -0.142)	[env.py: 1079]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/13 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:04 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:04 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 23:17:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.343s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:17:06 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:17:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:08 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 23:17:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:08 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 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174087m	[env.py: 870]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53710178 -0.88012356 -0.17408739] yaw=-59.3deg	[env.py: 1019]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46855996 -0.80427622 -0.17408739] yaw=-49.9deg	[env.py: 1019]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03836827 -1.26061337 -0.17408739] yaw=-42.1deg	[env.py: 1019]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=108.8ms, total=108.9ms	[env.py: 1075]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.880, -0.174)	[env.py: 1079]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/13 23:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:08 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:08 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 23:17:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 94.629[deg]	[grasp_sample.py: 539]
+05/13 23:17:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:17:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:17:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:18:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:49 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:19:09 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:19:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:19:09 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 23:19:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:19:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:19:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.72s (batch: 3.78s, save: 7.94s)	[pipeline.py: 300]
+05/13 23:19:21 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.69s:
+  episode_total: mean=68.09s, total=136.18s, count=2, min=2955.9ms, max=133224.7ms
+  sensor_polling: mean=318.9ms, total=86.41s, count=271, min=293.9ms, max=690.8ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.5ms, max=7935.5ms
+  physics_step: mean=19.8ms, total=5.38s, count=271, min=18.4ms, max=27.6ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.3ms, max=3782.3ms
+  task_sampling: mean=345.5ms, total=691.1ms, count=2, min=290.1ms, max=400.9ms
+  task_specific_sample: mean=342.3ms, total=684.6ms, count=2, min=287.2ms, max=397.4ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=392.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, 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 23:19:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:19:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:19:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:19:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:19:22 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 23:19:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:19:22 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 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193011m	[env.py: 870]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:19:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=299.1ms, total=299.1ms	[env.py: 1105]
+05/13 23:19:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:19:23 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 23:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:19:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:19:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:19:24 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 23:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:19:24 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 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142216m	[env.py: 870]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43019098 -0.89134693 -0.14221635] yaw=-49.7deg	[env.py: 1019]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms	[env.py: 1075]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.891, -0.142)	[env.py: 1079]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/13 23:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:19:24 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:19:24 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 23:19:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:19:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:19:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:19:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.727[m] 84.463[deg]	[grasp_sample.py: 539]
+05/13 23:19:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:19:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:19:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:19:29 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 23:20:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:20:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:05 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:21:25 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:21:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:21:25 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 23:21:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:21:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:21:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.81s (batch: 3.62s, save: 8.19s)	[pipeline.py: 300]
+05/13 23:21:37 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.44s:
+  episode_total: mean=66.85s, total=133.71s, count=2, min=311.6ms, max=133396.2ms
+  sensor_polling: mean=319.5ms, total=89.13s, count=279, min=293.0ms, max=665.7ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.7ms, max=8192.7ms
+  physics_step: mean=19.9ms, total=5.55s, count=279, min=13.7ms, max=31.9ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.6ms, max=3620.6ms
+  task_specific_sample: mean=368.4ms, total=736.8ms, count=2, min=304.6ms, max=432.2ms
+  task_sampling: mean=435.4ms, total=435.4ms, count=1, min=435.4ms, max=435.4ms
+  task_sampling_failed: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=400.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, 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 23:21:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:39 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 23:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:39 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 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146619m	[env.py: 870]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78375822 -0.89647819 -0.146619  ] yaw=-77.5deg	[env.py: 1019]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16255368 -1.32033556 -0.146619  ] yaw=-23.1deg	[env.py: 1019]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.8ms	[env.py: 1075]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.784, -0.896, -0.147)	[env.py: 1079]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.5 deg	[env.py: 1082]
+05/13 23:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:39 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:39 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 23:21:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:40 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.151s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.614[m] 91.057[deg]	[grasp_sample.py: 539]
+05/13 23:21:41 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:21:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:43 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 23:21:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:43 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 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184538m	[env.py: 870]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.553576   -0.88448759 -0.18453849] yaw=-62.0deg	[env.py: 1019]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms	[env.py: 1075]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.884, -0.185)	[env.py: 1079]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg	[env.py: 1082]
+05/13 23:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:43 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:43 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 23:21:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.325s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:45 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.670[m] 94.856[deg]	[grasp_sample.py: 539]
+05/13 23:21:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:46 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 23:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:22:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:21 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:23:40 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:23:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:23:40 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 23:23:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:23:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:23:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.34s (batch: 3.66s, save: 7.68s)	[pipeline.py: 300]
+05/13 23:23:52 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.85s:
+  episode_total: mean=66.25s, total=132.50s, count=2, min=2756.3ms, max=129743.3ms
+  sensor_polling: mean=312.0ms, total=84.23s, count=270, min=294.9ms, max=682.7ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7681.0ms, max=7681.0ms
+  physics_step: mean=19.5ms, total=5.26s, count=270, min=13.6ms, max=24.0ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3658.6ms, max=3658.6ms
+  task_sampling: mean=424.9ms, total=849.7ms, count=2, min=397.8ms, max=451.9ms
+  task_specific_sample: mean=421.5ms, total=843.0ms, count=2, min=394.6ms, max=448.4ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=432.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.1us, 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 23:23:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:54 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 23:23:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:54 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 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198076m	[env.py: 870]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.81487738 -0.81875033 -0.19807637] yaw=-84.3deg	[env.py: 1019]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02570433 -1.29487924 -0.19807637] yaw=-21.5deg	[env.py: 1019]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=360.0ms, total=360.0ms	[env.py: 1075]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.815, -0.819, -0.198)	[env.py: 1079]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.3 deg	[env.py: 1082]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:54 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:54 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 23:23:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:57 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.666[m] 107.176[deg]	[grasp_sample.py: 539]
+05/13 23:23:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:24:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:31 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:25:50 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:25:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:25:50 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 23:26:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:26:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:26:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.52s (batch: 3.60s, save: 7.92s)	[pipeline.py: 300]
+05/13 23:26:02 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.60s:
+  episode_total: mean=128.46s, total=128.46s, count=1, min=128457.5ms, max=128457.5ms
+  sensor_polling: mean=317.0ms, total=86.22s, count=272, min=298.0ms, max=713.0ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7916.5ms, max=7916.5ms
+  physics_step: mean=19.4ms, total=5.29s, count=272, min=13.8ms, max=23.1ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3600.1ms, max=3600.1ms
+  task_sampling: mean=603.4ms, total=603.4ms, count=1, min=603.4ms, max=603.4ms
+  task_specific_sample: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.3us, 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 23:26:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:03 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 23:26:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:03 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 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158150m	[env.py: 870]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.77980836 -0.91775076 -0.1581503 ] yaw=-86.0deg	[env.py: 1019]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms	[env.py: 1075]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.780, -0.918, -0.158)	[env.py: 1079]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.0 deg	[env.py: 1082]
+05/13 23:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:04 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:04 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 23:26:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.578[m] 100.588[deg]	[grasp_sample.py: 539]
+05/13 23:26:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:06 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 23:26:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:26:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:34 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:27:52 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:27:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:27:52 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 23:28:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:28:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:28:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.00s (batch: 3.52s, save: 7.48s)	[pipeline.py: 300]
+05/13 23:28:04 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.46s:
+  episode_total: mean=120.60s, total=120.60s, count=1, min=120601.3ms, max=120601.3ms
+  sensor_polling: mean=326.3ms, total=81.57s, count=250, min=303.2ms, max=726.2ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7484.4ms, max=7484.4ms
+  physics_step: mean=19.9ms, total=4.98s, count=250, min=13.8ms, max=29.1ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3520.4ms, max=3520.4ms
+  task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
+  task_specific_sample: mean=453.3ms, total=453.3ms, count=1, min=453.3ms, max=453.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=388.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.1us, 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 23:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:05 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 23:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:05 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 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133787m	[env.py: 870]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3711126  -1.15595863 -0.13378682] yaw=-55.2deg	[env.py: 1019]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms	[env.py: 1075]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.156, -0.134)	[env.py: 1079]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg	[env.py: 1082]
+05/13 23:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:06 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:06 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 23:28:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.290s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.593[m] 85.566[deg]	[grasp_sample.py: 539]
+05/13 23:28:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:09 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 23:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:28:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:35 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:29:54 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:29:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:29:54 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 23:30:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:30:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:30:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.23s (batch: 3.61s, save: 7.63s)	[pipeline.py: 300]
+05/13 23:30:05 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.46s:
+  episode_total: mean=120.31s, total=120.31s, count=1, min=120310.2ms, max=120310.2ms
+  sensor_polling: mean=315.6ms, total=79.52s, count=252, min=292.9ms, max=719.6ms
+  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7625.5ms, max=7625.5ms
+  physics_step: mean=19.6ms, total=4.95s, count=252, min=13.6ms, max=28.4ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.6ms, max=3607.6ms
+  task_sampling: mean=457.3ms, total=457.3ms, count=1, min=457.3ms, max=457.3ms
+  task_specific_sample: mean=453.9ms, total=453.9ms, count=1, min=453.9ms, max=453.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=416.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.1us, 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 23:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:07 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 23:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:07 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 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113132m	[env.py: 870]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07209304 -1.37586274 -0.1131321 ] yaw=-50.5deg	[env.py: 1019]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms	[env.py: 1075]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.072, -1.376, -0.113)	[env.py: 1079]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/13 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:07 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:07 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 23:30:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:10 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.360s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:30:10 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:30:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:11 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 23:30:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:11 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 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155037m	[env.py: 870]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.91776774 -0.83036963 -0.15503749] yaw=-78.8deg	[env.py: 1019]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55862312 -0.95404484 -0.15503749] yaw=-43.3deg	[env.py: 1019]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.918, -0.830, -0.155)	[env.py: 1079]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg	[env.py: 1082]
+05/13 23:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:11 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:12 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 23:30:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.215s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.640[m] 94.905[deg]	[grasp_sample.py: 539]
+05/13 23:30:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:30:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:30:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:31:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:31:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:31:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:31:48 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 23:31:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.164s, found 99 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:49 INFO: [Worker 0] Feasibility-checked 99 grasps in 0.583s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:49 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.026[m] 4.015[deg]	[grasp_sample.py: 539]
+05/13 23:31:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:31:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:31:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:32:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:06 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:32:27 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:32:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:32:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:32:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:32:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:32:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 12.74s (batch: 3.73s, save: 9.01s)	[pipeline.py: 300]
+05/13 23:32:40 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.85s:
+  episode_total: mean=75.94s, total=151.87s, count=2, min=3022.3ms, max=148848.9ms
+  sensor_polling: mean=314.9ms, total=94.47s, count=300, min=293.4ms, max=703.7ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9008.1ms, max=9008.1ms
+  physics_step: mean=19.5ms, total=5.84s, count=300, min=13.9ms, max=29.0ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.2ms, max=3729.2ms
+  task_sampling: mean=427.3ms, total=854.7ms, count=2, min=396.0ms, max=458.7ms
+  task_specific_sample: mean=424.0ms, total=848.0ms, count=2, min=392.9ms, max=455.0ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=390.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:32:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:41 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 23:32:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:41 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 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176591m	[env.py: 870]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34522043 -0.82092571 -0.17659103] yaw=-61.5deg	[env.py: 1019]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.8ms	[env.py: 1075]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -0.821, -0.177)	[env.py: 1079]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg	[env.py: 1082]
+05/13 23:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:42 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:42 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 23:32:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.311s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:32:44 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:32:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:46 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 23:32:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:46 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 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130205m	[env.py: 870]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63409696 -0.70093862 -0.13020489] yaw=-92.5deg	[env.py: 1019]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46551707 -1.08753648 -0.13020489] yaw=-62.8deg	[env.py: 1019]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.701, -0.130)	[env.py: 1079]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.5 deg	[env.py: 1082]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:46 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:46 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 23:32:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:48 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.293s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:32:48 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:32:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:50 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 23:32:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:50 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 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117467m	[env.py: 870]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52030677 -0.93755054 -0.11746715] yaw=-47.1deg	[env.py: 1019]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51215682 -0.92026918 -0.11746715] yaw=-71.1deg	[env.py: 1019]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.7ms	[env.py: 1075]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.938, -0.117)	[env.py: 1079]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/13 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:50 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:50 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 23:32:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.345s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:57 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.696[m] 89.914[deg]	[grasp_sample.py: 539]
+05/13 23:32:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:33:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:33:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:33:58 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 23:33:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 140 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:04 INFO: [Worker 0] Feasibility-checked 140 grasps in 5.686s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:04 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.048[m] 5.396[deg]	[grasp_sample.py: 539]
+05/13 23:34:05 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:06 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 23:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:06 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 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111115m	[env.py: 870]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21089225 -1.0448842  -0.11111486] yaw=-37.9deg	[env.py: 1019]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.478293   -0.77015704 -0.11111486] yaw=-71.1deg	[env.py: 1019]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms	[env.py: 1075]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.045, -0.111)	[env.py: 1079]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg	[env.py: 1082]
+05/13 23:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:06 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:06 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 23:34:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.308s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:34:09 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:10 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 23:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185534m	[env.py: 870]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24222672 -1.15332025 -0.1855344 ] yaw=-47.9deg	[env.py: 1019]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25333737 -1.25381012 -0.1855344 ] yaw=-12.7deg	[env.py: 1019]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.70458293 -0.77788972 -0.1855344 ] yaw=-66.5deg	[env.py: 1019]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms	[env.py: 1075]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.153, -0.186)	[env.py: 1079]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg	[env.py: 1082]
+05/13 23:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:11 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:11 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 23:34:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.622[m] 83.204[deg]	[grasp_sample.py: 539]
+05/13 23:34:13 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:15 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 23:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:15 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 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110676m	[env.py: 870]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2421399  -1.20320979 -0.11067617] yaw=-64.9deg	[env.py: 1019]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38751367 -1.15412014 -0.11067617] yaw=-74.0deg	[env.py: 1019]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.5ms, total=201.6ms	[env.py: 1075]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.203, -0.111)	[env.py: 1079]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 23:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:15 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:15 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 23:34:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:18 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.737[m] 79.489[deg]	[grasp_sample.py: 539]
+05/13 23:34:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:18 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 23:35:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:35:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:53 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:36:13 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:36:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:36:13 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 23:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.74s (batch: 3.53s, save: 8.21s)	[pipeline.py: 300]
+05/13 23:36:25 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=2.49s:
+  episode_total: mean=36.24s, total=217.41s, count=6, min=2851.6ms, max=130448.6ms
+  sensor_polling: mean=313.6ms, total=133.27s, count=425, min=289.2ms, max=672.0ms
+  save_trajectories: mean=8.21s, total=8.21s, count=1, min=8206.7ms, max=8206.7ms
+  physics_step: mean=19.2ms, total=8.14s, count=425, min=13.7ms, max=25.6ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3533.9ms, max=3533.9ms
+  task_sampling: mean=414.6ms, total=2.49s, count=6, min=387.3ms, max=461.6ms
+  task_specific_sample: mean=411.6ms, total=2.47s, count=6, min=384.7ms, max=457.9ms
+  scene_randomize: mean=1.4ms, total=8.4ms, count=6, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=403.7us, total=2.4ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, 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 23:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:26 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 23:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:26 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 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164927m	[env.py: 870]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66172817 -0.70673626 -0.16492749] yaw=-66.3deg	[env.py: 1019]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 4.57125607e-05 -1.38846809e+00 -1.64927487e-01] yaw=-24.8deg	[env.py: 1019]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.9ms, total=191.9ms	[env.py: 1075]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.662, -0.707, -0.165)	[env.py: 1079]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg	[env.py: 1082]
+05/13 23:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:36:27 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:36:27 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 23:36:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:36:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.341s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:36:29 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:36:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:31 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 23:36:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:31 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 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183374m	[env.py: 870]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.69502229 -0.84807885 -0.18337403] yaw=-68.4deg	[env.py: 1019]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61336201 -0.70600063 -0.18337403] yaw=-64.8deg	[env.py: 1019]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43538993 -0.76554142 -0.18337403] yaw=-62.4deg	[env.py: 1019]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:36:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.4ms, total=172.5ms	[env.py: 1075]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.695, -0.848, -0.183)	[env.py: 1079]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg	[env.py: 1082]
+05/13 23:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:36:31 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:36:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:36:31 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 23:36:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:36:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.118s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.641[m] 95.022[deg]	[grasp_sample.py: 539]
+05/13 23:36:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:36:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:36:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:34 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 23:37:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:37:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:05 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:38:26 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/3drawers/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/13 23:38:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:38:26 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 23:38:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:38:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_101	[save_utils.py: 785]
+05/13 23:38:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 11.43s (batch: 3.66s, save: 7.77s)	[pipeline.py: 300]
+05/13 23:38:38 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.80s:
+  episode_total: mean=65.13s, total=130.26s, count=2, min=2981.7ms, max=127276.1ms
+  sensor_polling: mean=316.5ms, total=83.87s, count=265, min=297.1ms, max=696.0ms
+  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.8ms, max=7769.8ms
+  physics_step: mean=19.5ms, total=5.18s, count=265, min=13.8ms, max=29.0ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3655.4ms, max=3655.4ms
+  task_sampling: mean=401.1ms, total=802.2ms, count=2, min=367.6ms, max=434.6ms
+  task_specific_sample: mean=397.7ms, total=795.4ms, count=2, min=364.5ms, max=430.9ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=400.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:39 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 23:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:39 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 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130886m	[env.py: 870]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62477172 -0.90038871 -0.13088629] yaw=-40.4deg	[env.py: 1019]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04042809 -1.13446337 -0.13088629] yaw=-38.3deg	[env.py: 1019]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26760517 -1.1821903  -0.13088629] yaw=-34.5deg	[env.py: 1019]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=465.7ms, total=465.7ms	[env.py: 1075]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.900, -0.131)	[env.py: 1079]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg	[env.py: 1082]
+05/13 23:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 23:38:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:40 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:40 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 23:38:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:41 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.127s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.731[m] 81.070[deg]	[grasp_sample.py: 539]
+05/13 23:38:42 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:43 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 23:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:43 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 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168251m	[env.py: 870]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.3ms, total=253.3ms	[env.py: 1105]
+05/13 23:38:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:38:44 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:38:45 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:38:45 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/13 23:38:45 INFO: [Worker 0] Worker 0 completed house 1: 28/31 successful episodes	[pipeline.py: 1323]
+05/13 23:38:45 INFO: [Worker 0] [PROFILE] House 1 complete: 28/31 successful, 31 episodes, total_time=8348.43s
+  House averages:
+  episode_total: mean=67.54s, total=4863.16s, count=72, min=229.0ms, max=250204.9ms
+  sensor_polling: mean=349.9ms, total=2888.11s, count=8253, min=286.8ms, max=800.6ms
+  save_trajectories: mean=8.36s, total=234.16s, count=28, min=7212.1ms, max=10907.6ms
+  physics_step: mean=21.5ms, total=177.27s, count=8253, min=12.2ms, max=100.5ms
+  save_batch_prep: mean=3.87s, total=108.50s, count=28, min=3481.8ms, max=4521.6ms
+  task_sampling: mean=525.0ms, total=35.70s, count=68, min=290.1ms, max=2762.7ms
+  task_specific_sample: mean=476.3ms, total=34.29s, count=72, min=224.2ms, max=935.4ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2382.9ms, max=2382.9ms
+  scene_env_create: mean=1.27s, total=1.27s, count=1, min=1274.9ms, max=1274.9ms
+  task_sampling_failed: mean=315.3ms, total=1.26s, count=4, min=229.0ms, max=446.6ms
+  scene_compile: mean=980.6ms, total=980.6ms, count=1, min=980.6ms, max=980.6ms
+  compile_mujoco: mean=724.5ms, total=724.5ms, count=1, min=724.5ms, max=724.5ms
+  compile_xml_load: mean=194.7ms, total=194.7ms, count=1, min=194.7ms, max=194.7ms
+  scene_randomize: mean=1.8ms, total=126.1ms, count=72, min=0.9ms, max=3.4ms
+  scene_init: mean=86.0ms, total=86.0ms, count=1, min=86.0ms, max=86.0ms
+  compile_aux_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  mj_forward_sync: mean=420.3us, total=30.3ms, count=72, min=0.3ms, max=0.7ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=17.6us, total=1.2ms, count=68, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:38:45 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:38:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 31 episodes, total_time=8348.43s
+  Worker averages:
+  episode_total: mean=67.54s, total=4863.16s, count=72, min=229.0ms, max=250204.9ms
+  sensor_polling: mean=349.9ms, total=2888.11s, count=8253, min=286.8ms, max=800.6ms
+  save_trajectories: mean=8.36s, total=234.16s, count=28, min=7212.1ms, max=10907.6ms
+  physics_step: mean=21.5ms, total=177.27s, count=8253, min=12.2ms, max=100.5ms
+  save_batch_prep: mean=3.87s, total=108.50s, count=28, min=3481.8ms, max=4521.6ms
+  task_sampling: mean=525.0ms, total=35.70s, count=68, min=290.1ms, max=2762.7ms
+  task_specific_sample: mean=476.3ms, total=34.29s, count=72, min=224.2ms, max=935.4ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2382.9ms, max=2382.9ms
+  scene_env_create: mean=1.27s, total=1.27s, count=1, min=1274.9ms, max=1274.9ms
+  task_sampling_failed: mean=315.3ms, total=1.26s, count=4, min=229.0ms, max=446.6ms
+  scene_compile: mean=980.6ms, total=980.6ms, count=1, min=980.6ms, max=980.6ms
+  compile_mujoco: mean=724.5ms, total=724.5ms, count=1, min=724.5ms, max=724.5ms
+  compile_xml_load: mean=194.7ms, total=194.7ms, count=1, min=194.7ms, max=194.7ms
+  scene_randomize: mean=1.8ms, total=126.1ms, count=72, min=0.9ms, max=3.4ms
+  scene_init: mean=86.0ms, total=86.0ms, count=1, min=86.0ms, max=86.0ms
+  compile_aux_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  mj_forward_sync: mean=420.3us, total=30.3ms, count=72, min=0.3ms, max=0.7ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=17.6us, total=1.2ms, count=68, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:38:47 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:38:47 INFO: Success count: 28, Total count: 31	[pipeline.py: 1491]
+05/13 23:38:47 INFO: Success rate: 90.32%	[pipeline.py: 1492]
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