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+05/13 20:15:17 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:15:17 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:15:17 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:15:17 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,
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+                                '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],
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+                                                      -0.7187697968315937],
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+                                '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_051'),
+ '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 0x6144d905e90>,
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+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
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+                  '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,
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+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
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+                                                    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': 50006,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:15:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:15:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:15:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:15:17 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:15:17 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:15:17 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:15:17 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_051'),
+ '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 0xd1eddceef50>,
+ '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': 50008,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:15:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:15:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:15:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:15:17 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:15:17 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:15:17 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:15:17 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_051'),
+ '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 0xf1e136ebf10>,
+ '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': 50005,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:15:17 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 20:15:17 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 20:15:17 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 20:15:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:15:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:15:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:15:17 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_051'),
+ '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 0x103d2dc8e390>,
+ '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': 50007,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 20:15:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 20:15:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 20:15:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 20:15:17 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:15:17 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:15:17 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:15:17 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 20:15:20 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:15:20 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:15:20 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:15:20 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:15:20 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:15:20 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192966m	[env.py: 870]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:15:20 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:15:20 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:15:20 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 20:15:20 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:20 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:15:20 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63800491 -0.97564179 -0.19296561] yaw=-84.3deg	[env.py: 1019]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141099m	[env.py: 870]
+05/13 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:15:21 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:15:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:21 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 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100751m	[env.py: 870]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:21 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 20:15:21 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 20:15:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160615m	[env.py: 870]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:21 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52856928 -0.8579161  -0.19296561] yaw=-67.2deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.06190009 -1.40116804 -0.19296561] yaw=-9.0deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=34.3ms, retries=137.7ms, total=172.0ms	[env.py: 1075]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.638, -0.976, -0.193)	[env.py: 1079]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.3 deg	[env.py: 1082]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29971507 -1.19627076 -0.16061468] yaw=-47.1deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02776719 -1.2735634  -0.16061468] yaw=-35.7deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=27.5ms, retries=215.3ms, total=242.9ms	[env.py: 1105]
+05/13 20:15:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:15:21 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37709542 -0.99476348 -0.16061468] yaw=-49.8deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=12.8ms, retries=286.1ms, total=298.9ms	[env.py: 1075]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.196, -0.161)	[env.py: 1079]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47582455 -0.81673663 -0.10075077] yaw=-65.6deg	[env.py: 1019]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=13.4ms, retries=410.2ms, total=423.6ms	[env.py: 1075]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.817, -0.101)	[env.py: 1079]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg	[env.py: 1082]
+05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:22 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 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105189m	[env.py: 870]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=129.3ms, total=129.3ms	[env.py: 1105]
+05/13 20:15:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:15:22 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:23 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 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120047m	[env.py: 870]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=244.1ms, total=244.1ms	[env.py: 1105]
+05/13 20:15:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:15:23 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:25 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 20:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:25 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 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164395m	[env.py: 870]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.73998156 -0.71321889 -0.16439502] yaw=-56.4deg	[env.py: 1019]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12415158 -1.28177992 -0.16439502] yaw=-37.1deg	[env.py: 1019]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6065807  -0.97878746 -0.16439502] yaw=-54.7deg	[env.py: 1019]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.8ms, total=70.8ms	[env.py: 1075]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.740, -0.713, -0.164)	[env.py: 1079]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/13 20:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:25 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:37 INFO: [Worker 0] Warmed up parallel IK solver in 16.333s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:37 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 20:15:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 16.601s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:38 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.602[m] 86.243[deg]	[grasp_sample.py: 539]
+05/13 20:15:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:15:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:15:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:15:39 INFO: [Worker 0] Warmed up parallel IK solver in 17.938s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:39 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 20:15:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.545s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:15:41 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:15:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:43 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 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131246m	[env.py: 870]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82200245 -0.75361091 -0.1312461 ] yaw=-81.8deg	[env.py: 1019]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10220634 -1.30434658 -0.1312461 ] yaw=-15.9deg	[env.py: 1019]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52072048 -0.83449299 -0.1312461 ] yaw=-40.0deg	[env.py: 1019]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms	[env.py: 1075]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.822, -0.754, -0.131)	[env.py: 1079]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.8 deg	[env.py: 1082]
+05/13 20:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 18.214s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:43 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 20:15:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.077s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 5.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:43 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.591[m] 91.536[deg]	[grasp_sample.py: 539]
+05/13 20:15:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:43 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:43 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 20:15:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:44 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:15:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.638s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:15:45 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:45 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 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194050m	[env.py: 870]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39070433 -1.09042966 -0.19404967] yaw=-64.9deg	[env.py: 1019]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32836101 -1.02461324 -0.19404967] yaw=-65.1deg	[env.py: 1019]
+05/13 20:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.0ms	[env.py: 1075]
+05/13 20:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.090, -0.194)	[env.py: 1079]
+05/13 20:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 20:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 20:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:46 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.898s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:46 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.724[m] 99.530[deg]	[grasp_sample.py: 539]
+05/13 20:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182321m	[env.py: 870]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27128696 -1.16205542 -0.18232062] yaw=-50.8deg	[env.py: 1019]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28246214 -0.95591468 -0.18232062] yaw=-52.6deg	[env.py: 1019]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4159898  -1.06548232 -0.18232062] yaw=-62.1deg	[env.py: 1019]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.4ms	[env.py: 1075]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -1.162, -0.182)	[env.py: 1079]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg	[env.py: 1082]
+05/13 20:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:47 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:47 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.219s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.602[m] 96.984[deg]	[grasp_sample.py: 539]
+05/13 20:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:15:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:15:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:15:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138038m	[env.py: 870]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04466393 -1.1808385  -0.13803774] yaw=-18.9deg	[env.py: 1019]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50955427 -0.74902332 -0.13803774] yaw=-37.2deg	[env.py: 1019]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.74286124 -0.70933957 -0.13803774] yaw=-67.5deg	[env.py: 1019]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.8ms	[env.py: 1075]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.045, -1.181, -0.138)	[env.py: 1079]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.9 deg	[env.py: 1082]
+05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:49 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.235s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:49 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.653[m] 88.201[deg]	[grasp_sample.py: 539]
+05/13 20:15:50 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:15:51 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.498s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:15:51 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:15:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197807m	[env.py: 870]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.89172702 -0.88506221 -0.19780656] yaw=-87.3deg	[env.py: 1019]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19646503 -0.98990565 -0.19780656] yaw=-35.5deg	[env.py: 1019]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=152.4ms, total=152.4ms	[env.py: 1075]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.892, -0.885, -0.198)	[env.py: 1079]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.3 deg	[env.py: 1082]
+05/13 20:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:52 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.619[m] 99.324[deg]	[grasp_sample.py: 539]
+05/13 20:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:15:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:53 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 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120040m	[env.py: 870]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37202351 -0.81669695 -0.12003989] yaw=-45.5deg	[env.py: 1019]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.5ms	[env.py: 1075]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.817, -0.120)	[env.py: 1079]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg	[env.py: 1082]
+05/13 20:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:15:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:53 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.423s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:15:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:15:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:15:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:15:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:15:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:15:57 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 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164456m	[env.py: 870]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:15:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.74762047 -0.750478   -0.16445552] yaw=-84.6deg	[env.py: 1019]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65882229 -0.79414195 -0.16445552] yaw=-71.9deg	[env.py: 1019]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:15:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.748, -0.750, -0.164)	[env.py: 1079]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.6 deg	[env.py: 1082]
+05/13 20:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:15:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:15:57 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:15:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:15:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:15:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:15:58 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.205s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:15:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.702[m] 99.144[deg]	[grasp_sample.py: 539]
+05/13 20:15:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:15:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:15:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:15:59 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 20:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:16:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:16:21 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:16:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:16:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:16:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:16:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:16:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 145 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:31 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:16:33 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:16:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:16:33 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 20:16:34 INFO: [Worker 0] Feasibility-checked 145 grasps in 5.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:16:34 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.042[m] 8.057[deg]	[grasp_sample.py: 539]
+05/13 20:16:35 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:36 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 20:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116341m	[env.py: 870]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44277268 -1.07447247 -0.11634058] yaw=-35.9deg	[env.py: 1019]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0955032  -1.13602487 -0.11634058] yaw=-48.1deg	[env.py: 1019]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.85264466 -0.78209129 -0.11634058] yaw=-94.0deg	[env.py: 1019]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms	[env.py: 1075]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -1.074, -0.116)	[env.py: 1079]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg	[env.py: 1082]
+05/13 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:37 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:37 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 20:16:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:38 INFO: [Worker 0] Feasibility-checked 240 grasps in 0.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:16:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.633[m] 81.092[deg]	[grasp_sample.py: 539]
+05/13 20:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:38 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 20:16:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:16:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:16:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.72s (batch: 3.08s, save: 4.64s)	[pipeline.py: 300]
+05/13 20:16:42 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.96s:
+  episode_total: mean=84.90s, total=84.90s, count=1, min=84898.7ms, max=84898.7ms
+  sensor_polling: mean=153.0ms, total=38.56s, count=252, min=134.3ms, max=243.2ms
+  save_trajectories: mean=4.64s, total=4.64s, count=1, min=4638.0ms, max=4638.0ms
+  task_sampling: mean=3.96s, total=3.96s, count=1, min=3958.5ms, max=3958.5ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3597.9ms, max=3597.9ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3078.8ms, max=3078.8ms
+  physics_step: mean=9.7ms, total=2.45s, count=252, min=8.5ms, max=15.7ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1852.6ms, max=1852.6ms
+  scene_compile: mean=1.63s, total=1.63s, count=1, min=1625.1ms, max=1625.1ms
+  compile_mujoco: mean=1.03s, total=1.03s, count=1, min=1025.7ms, max=1025.7ms
+  compile_xml_load: mean=534.5ms, total=534.5ms, count=1, min=534.5ms, max=534.5ms
+  task_specific_sample: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
+  scene_asset_install: mean=62.7ms, total=62.7ms, count=1, min=62.7ms, max=62.7ms
+  scene_init: mean=57.4ms, total=57.4ms, count=1, min=57.4ms, max=57.4ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_objects: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=936.7us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=230.2us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=43.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:16:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:16:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:16:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:16:42 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 20:16:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116089m	[env.py: 870]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04131943 -1.35747838 -0.11608898] yaw=-39.6deg	[env.py: 1019]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64978281 -0.84813643 -0.11608898] yaw=-46.0deg	[env.py: 1019]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50041903 -0.87675159 -0.11608898] yaw=-67.0deg	[env.py: 1019]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms	[env.py: 1075]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -1.357, -0.116)	[env.py: 1079]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:44 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:16:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:45 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.496s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:16:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187294m	[env.py: 870]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06695249 -1.13979213 -0.18729358] yaw=-26.0deg	[env.py: 1019]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17928466 -1.25082612 -0.18729358] yaw=-27.2deg	[env.py: 1019]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.86434637 -0.73449391 -0.18729358] yaw=-70.1deg	[env.py: 1019]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.3ms, total=84.3ms	[env.py: 1075]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -1.140, -0.187)	[env.py: 1079]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.0 deg	[env.py: 1082]
+05/13 20:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:47 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:47 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 20:16:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:49 INFO: [Worker 0] Feasibility-checked 241 grasps in 1.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:16:49 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:16:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:16:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:16:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.98s (batch: 3.19s, save: 4.79s)	[pipeline.py: 300]
+05/13 20:16:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:51 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 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130507m	[env.py: 870]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.6ms, total=206.6ms	[env.py: 1105]
+05/13 20:16:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:16:51 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 20:16:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.52s:
+  episode_total: mean=46.40s, total=92.80s, count=2, min=26906.1ms, max=65898.3ms
+  sensor_polling: mean=152.6ms, total=38.61s, count=253, min=137.7ms, max=270.5ms
+  save_trajectories: mean=4.79s, total=4.79s, count=1, min=4789.9ms, max=4789.9ms
+  task_sampling: mean=2.26s, total=4.52s, count=2, min=291.2ms, max=4226.5ms
+  scene_load: mean=3.72s, total=3.72s, count=1, min=3717.7ms, max=3717.7ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3194.0ms, max=3194.0ms
+  physics_step: mean=9.8ms, total=2.49s, count=253, min=7.8ms, max=15.8ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1915.4ms, max=1915.4ms
+  scene_compile: mean=1.51s, total=1.51s, count=1, min=1505.8ms, max=1505.8ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1041.2ms, max=1041.2ms
+  task_specific_sample: mean=393.7ms, total=787.3ms, count=2, min=289.2ms, max=498.2ms
+  compile_xml_load: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
+  scene_asset_install: mean=222.5ms, total=222.5ms, count=1, min=222.5ms, max=222.5ms
+  asset_install_objects: mean=163.4ms, total=163.4ms, count=1, min=163.4ms, max=163.4ms
+  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_scene: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  scene_randomize: mean=899.2us, total=1.8ms, count=2, min=0.8ms, max=1.0ms
+  mj_forward_sync: mean=291.9us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=27.4us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:16:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147381m	[env.py: 870]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.75147985 -0.74582757 -0.14738149] yaw=-55.9deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52230298 -0.93199058 -0.14738149] yaw=-74.5deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19619528 -1.45711551 -0.14738149] yaw=-23.0deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.6ms, total=292.6ms	[env.py: 1075]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.751, -0.746, -0.147)	[env.py: 1079]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg	[env.py: 1082]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:53 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:16:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144138m	[env.py: 870]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25164368 -1.15797669 -0.1441377 ] yaw=-29.9deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44256838 -0.83512631 -0.1441377 ] yaw=-58.7deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36226706 -1.00461528 -0.1441377 ] yaw=-31.2deg	[env.py: 1019]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.7ms	[env.py: 1075]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.158, -0.144)	[env.py: 1079]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.9 deg	[env.py: 1082]
+05/13 20:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:54 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:16:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:16:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:16:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.780[m] 92.652[deg]	[grasp_sample.py: 539]
+05/13 20:16:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:16:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:16:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:16:54 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 20:16:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:16:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:56 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:16:56 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.671[m] 77.365[deg]	[grasp_sample.py: 539]
+05/13 20:16:56 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:16:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:16:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:16:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:16:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165050m	[env.py: 870]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23209792 -0.98089387 -0.16504951] yaw=-39.1deg	[env.py: 1019]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13132747 -1.01850433 -0.16504951] yaw=-21.6deg	[env.py: 1019]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:16:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=412.9ms, total=412.9ms	[env.py: 1075]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.981, -0.165)	[env.py: 1079]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg	[env.py: 1082]
+05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:16:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:16:59 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:16:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:16:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:00 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.519s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:17:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:17:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:17:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:17:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:17:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.62s (batch: 2.95s, save: 4.68s)	[pipeline.py: 300]
+05/13 20:17:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100440m	[env.py: 870]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:02 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.88s:
+  episode_total: mean=16.48s, total=98.86s, count=6, min=137.6ms, max=71096.4ms
+  sensor_polling: mean=151.5ms, total=39.23s, count=259, min=136.5ms, max=297.0ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4679.0ms, max=4679.0ms
+  task_sampling_failed: mean=1.45s, total=4.35s, count=3, min=137.6ms, max=3967.7ms
+  scene_load: mean=3.71s, total=3.71s, count=1, min=3713.6ms, max=3713.6ms
+  save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2945.8ms, max=2945.8ms
+  physics_step: mean=9.8ms, total=2.53s, count=259, min=8.7ms, max=12.9ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.8ms, max=1885.8ms
+  scene_compile: mean=1.69s, total=1.69s, count=1, min=1689.7ms, max=1689.7ms
+  task_specific_sample: mean=250.3ms, total=1.50s, count=6, min=132.4ms, max=322.0ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1035.4ms, max=1035.4ms
+  task_sampling: mean=292.8ms, total=878.5ms, count=3, min=237.6ms, max=324.9ms
+  compile_xml_load: mean=588.5ms, total=588.5ms, count=1, min=588.5ms, max=588.5ms
+  scene_init: mean=72.9ms, total=72.9ms, count=1, min=72.9ms, max=72.9ms
+  scene_asset_install: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms
+  asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
+  compile_aux_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_aux_policy_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  scene_randomize: mean=1.0ms, total=6.0ms, count=6, min=0.7ms, max=1.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=269.7us, total=1.6ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78190131 -0.65337676 -0.10044013] yaw=-84.2deg	[env.py: 1019]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36326346 -0.9823832  -0.10044013] yaw=-73.6deg	[env.py: 1019]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03655548 -1.30484936 -0.10044013] yaw=-6.4deg	[env.py: 1019]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.0ms	[env.py: 1075]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.782, -0.653, -0.100)	[env.py: 1079]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.2 deg	[env.py: 1082]
+05/13 20:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:03 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:04 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 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165689m	[env.py: 870]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=119.4ms, total=119.5ms	[env.py: 1105]
+05/13 20:17:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:17:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:17:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.531s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:17:04 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151616m	[env.py: 870]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.87439335 -0.92651279 -0.1516163 ] yaw=-89.3deg	[env.py: 1019]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62267773 -0.74719132 -0.1516163 ] yaw=-70.8deg	[env.py: 1019]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.5ms	[env.py: 1075]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.874, -0.927, -0.152)	[env.py: 1079]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.3 deg	[env.py: 1082]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:06 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:06 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 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157018m	[env.py: 870]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01289299 -1.22007588 -0.1570184 ] yaw=-14.7deg	[env.py: 1019]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms	[env.py: 1075]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.013, -1.220, -0.157)	[env.py: 1079]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.7 deg	[env.py: 1082]
+05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:06 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:07 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.611[m] 79.111[deg]	[grasp_sample.py: 539]
+05/13 20:17:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:17:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:17:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:07 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 20:17:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.569s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:17:08 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:17:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157205m	[env.py: 870]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58302467 -0.8592684  -0.15720522] yaw=-67.9deg	[env.py: 1019]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.6ms, total=214.6ms	[env.py: 1075]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.859, -0.157)	[env.py: 1079]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg	[env.py: 1082]
+05/13 20:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:10 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.700[m] 99.028[deg]	[grasp_sample.py: 539]
+05/13 20:17:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:17:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:17:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:17:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:17:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:17:29 INFO: [Worker 0] Feasibility-checked 242 grasps in 6.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:29 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.114[m] 16.349[deg]	[grasp_sample.py: 539]
+05/13 20:17:29 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189111m	[env.py: 870]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21096181 -1.2393792  -0.18911109] yaw=-20.8deg	[env.py: 1019]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62234408 -0.98924021 -0.18911109] yaw=-60.3deg	[env.py: 1019]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.74793991 -0.92008763 -0.18911109] yaw=-100.6deg	[env.py: 1019]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms	[env.py: 1075]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.239, -0.189)	[env.py: 1079]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.8 deg	[env.py: 1082]
+05/13 20:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:31 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:33 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.637[m] 83.415[deg]	[grasp_sample.py: 539]
+05/13 20:17:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:17:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:17:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:17:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:17:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:17:34 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 20:17:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:17:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:17:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:17:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 9.47s (batch: 4.49s, save: 4.98s)	[pipeline.py: 300]
+05/13 20:17:44 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=5.75s:
+  episode_total: mean=22.82s, total=136.91s, count=6, min=1862.1ms, max=67449.6ms
+  sensor_polling: mean=154.9ms, total=63.49s, count=410, min=133.0ms, max=418.7ms
+  task_sampling: mean=958.8ms, total=5.75s, count=6, min=246.7ms, max=4254.9ms
+  save_trajectories: mean=4.98s, total=4.98s, count=1, min=4980.7ms, max=4980.7ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4485.2ms, max=4485.2ms
+  physics_step: mean=9.5ms, total=3.91s, count=410, min=7.8ms, max=22.5ms
+  scene_load: mean=3.66s, total=3.66s, count=1, min=3657.9ms, max=3657.9ms
+  task_specific_sample: mean=346.3ms, total=2.08s, count=6, min=244.2ms, max=593.5ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.7ms, max=1882.7ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms
+  compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1058.9ms, max=1058.9ms
+  compile_xml_load: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  scene_asset_install: mean=119.7ms, total=119.7ms, count=1, min=119.7ms, max=119.7ms
+  scene_init: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  scene_randomize: mean=1.4ms, total=8.2ms, count=6, min=1.0ms, max=1.6ms
+  mj_forward_sync: mean=307.0us, total=1.8ms, count=6, min=0.2ms, max=0.4ms
+  policy_setup: mean=25.2us, total=0.2ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:17:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:17:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:17:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:17:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:17:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:17:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159686m	[env.py: 870]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:17:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.90786143 -0.90368576 -0.15968614] yaw=-84.8deg	[env.py: 1019]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.68639967 -0.93996572 -0.15968614] yaw=-74.0deg	[env.py: 1019]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.2ms, total=146.2ms	[env.py: 1075]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.908, -0.904, -0.160)	[env.py: 1079]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.8 deg	[env.py: 1082]
+05/13 20:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:17:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:17:46 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:17:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:17:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:47 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.554[m] 98.992[deg]	[grasp_sample.py: 539]
+05/13 20:17:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:17:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:17:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:55 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:17:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:17:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:17:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:17:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:17:59 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:17:59 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.135s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:17:59 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.421[m] 69.749[deg]	[grasp_sample.py: 539]
+05/13 20:17:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:17:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:17:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:18:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:06 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:06 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.421[m] 69.753[deg]	[grasp_sample.py: 539]
+05/13 20:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:18:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:18:07 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 20:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:18:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:18:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:11 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:18:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:18:11 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 20:18:12 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:12 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.421[m] 69.753[deg]	[grasp_sample.py: 539]
+05/13 20:18:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:18:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:18:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.45s (batch: 2.99s, save: 4.45s)	[pipeline.py: 300]
+05/13 20:18:15 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:15 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.29s:
+  episode_total: mean=34.92s, total=69.84s, count=2, min=126.5ms, max=69711.3ms
+  sensor_polling: mean=152.5ms, total=38.88s, count=255, min=141.3ms, max=309.4ms
+  save_trajectories: mean=4.45s, total=4.45s, count=1, min=4453.0ms, max=4453.0ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2994.4ms, max=2994.4ms
+  physics_step: mean=10.0ms, total=2.55s, count=255, min=9.0ms, max=14.1ms
+  task_specific_sample: mean=203.7ms, total=407.3ms, count=2, min=123.1ms, max=284.2ms
+  task_sampling: mean=286.6ms, total=286.6ms, count=1, min=286.6ms, max=286.6ms
+  task_sampling_failed: mean=126.4ms, total=126.4ms, count=1, min=126.4ms, max=126.4ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=263.3us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=24.6us, 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 20:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113076m	[env.py: 870]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:18:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38516864 -0.94559158 -0.11307556] yaw=-30.1deg	[env.py: 1019]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.6ms	[env.py: 1075]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.946, -0.113)	[env.py: 1079]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 20:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:18:17 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.30s:
+  episode_total: mean=31.60s, total=31.60s, count=1, min=31597.2ms, max=31597.2ms
+  sensor_polling: mean=149.7ms, total=10.18s, count=68, min=134.5ms, max=193.3ms
+  physics_step: mean=8.7ms, total=592.4ms, count=68, min=6.1ms, max=19.8ms
+  task_sampling: mean=299.8ms, total=299.8ms, count=1, min=299.8ms, max=299.8ms
+  task_specific_sample: mean=297.4ms, total=297.4ms, count=1, min=297.4ms, max=297.4ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=250.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:18:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:17 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142837m	[env.py: 870]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27370159 -0.89130756 -0.14283723] yaw=-66.5deg	[env.py: 1019]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0191147  -1.30177565 -0.14283723] yaw=-38.1deg	[env.py: 1019]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18785022 -1.26803697 -0.14283723] yaw=-32.4deg	[env.py: 1019]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms	[env.py: 1075]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -0.891, -0.143)	[env.py: 1079]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg	[env.py: 1082]
+05/13 20:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:20 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.060s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:20 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.743[m] 77.429[deg]	[grasp_sample.py: 539]
+05/13 20:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:18:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:18:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 9.73s (batch: 4.65s, save: 5.08s)	[pipeline.py: 300]
+05/13 20:18:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.590s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:22 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.82s:
+  episode_total: mean=16.26s, total=81.28s, count=5, min=1887.5ms, max=72085.3ms
+  sensor_polling: mean=148.8ms, total=41.08s, count=276, min=133.7ms, max=367.4ms
+  save_trajectories: mean=5.08s, total=5.08s, count=1, min=5078.9ms, max=5078.9ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4646.5ms, max=4646.5ms
+  physics_step: mean=9.7ms, total=2.66s, count=276, min=8.1ms, max=14.3ms
+  task_sampling: mean=363.6ms, total=1.82s, count=5, min=263.6ms, max=583.1ms
+  task_specific_sample: mean=361.0ms, total=1.80s, count=5, min=261.2ms, max=580.4ms
+  scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=1.2ms, max=1.5ms
+  mj_forward_sync: mean=267.6us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  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 20:18:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:23 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 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138931m	[env.py: 870]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28738713 -0.88409922 -0.13893069] yaw=-24.5deg	[env.py: 1019]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23362521 -1.05832995 -0.13893069] yaw=-39.6deg	[env.py: 1019]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04061751 -1.32030963 -0.13893069] yaw=-1.4deg	[env.py: 1019]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.884, -0.139)	[env.py: 1079]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.5 deg	[env.py: 1082]
+05/13 20:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:23 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:25 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 20:18:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:25 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 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177980m	[env.py: 870]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=129.7ms, total=129.8ms	[env.py: 1105]
+05/13 20:18:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:18:25 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:18:25 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.479s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:25 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:18:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:18:26 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 20:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:26 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 20:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142549m	[env.py: 870]
+05/13 20:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=346.9ms, total=346.9ms	[env.py: 1105]
+05/13 20:18:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:18:27 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 20:18:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190368m	[env.py: 870]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.4ms, total=158.4ms	[env.py: 1105]
+05/13 20:18:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:18:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185339m	[env.py: 870]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00330717 -1.21224196 -0.18533906] yaw=-27.6deg	[env.py: 1019]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09812343 -1.34072344 -0.18533906] yaw=-42.1deg	[env.py: 1019]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58346405 -0.97458289 -0.18533906] yaw=-88.3deg	[env.py: 1019]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.9ms, total=319.9ms	[env.py: 1075]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -1.212, -0.185)	[env.py: 1079]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.6 deg	[env.py: 1082]
+05/13 20:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:29 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:30 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 20:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144396m	[env.py: 870]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09791245 -1.09879185 -0.14439588] yaw=-46.1deg	[env.py: 1019]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.099, -0.144)	[env.py: 1079]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/13 20:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:31 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:31 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 20:18:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:31 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.449s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:31 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:32 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.523s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:32 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 20:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187876m	[env.py: 870]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0565115  -1.30494933 -0.18787575] yaw=-36.9deg	[env.py: 1019]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40533706 -0.89040982 -0.18787575] yaw=-57.2deg	[env.py: 1019]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6671593  -0.72449863 -0.18787575] yaw=-82.7deg	[env.py: 1019]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.057, -1.305, -0.188)	[env.py: 1079]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg	[env.py: 1082]
+05/13 20:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:33 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:33 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 20:18:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:34 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.469s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:18:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:18:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.16s (batch: 3.35s, save: 4.81s)	[pipeline.py: 300]
+05/13 20:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190558m	[env.py: 870]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09933152 -1.19660399 -0.19055754] yaw=-38.3deg	[env.py: 1019]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms	[env.py: 1075]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.197, -0.191)	[env.py: 1079]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg	[env.py: 1082]
+05/13 20:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:35 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.28s:
+  episode_total: mean=20.94s, total=104.71s, count=5, min=215.7ms, max=63661.5ms
+  sensor_polling: mean=146.1ms, total=60.33s, count=413, min=133.7ms, max=330.9ms
+  save_trajectories: mean=4.81s, total=4.81s, count=1, min=4811.8ms, max=4811.8ms
+  physics_step: mean=9.4ms, total=3.90s, count=413, min=7.7ms, max=15.3ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3345.1ms, max=3345.1ms
+  task_specific_sample: mean=297.4ms, total=1.49s, count=5, min=210.8ms, max=437.3ms
+  task_sampling: mean=321.2ms, total=1.28s, count=4, min=231.2ms, max=439.3ms
+  task_sampling_failed: mean=215.6ms, total=215.6ms, count=1, min=215.6ms, max=215.6ms
+  scene_randomize: mean=1.1ms, total=5.4ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=259.9us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:18:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:35 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:35 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 20:18:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:36 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 20:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:36 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 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149728m	[env.py: 870]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.7ms, total=210.8ms	[env.py: 1105]
+05/13 20:18:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:18:36 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:36 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 20:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120524m	[env.py: 870]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.87316045 -0.90335575 -0.12052355] yaw=-101.1deg	[env.py: 1019]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:37 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.498s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.873, -0.903, -0.121)	[env.py: 1079]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.1 deg	[env.py: 1082]
+05/13 20:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 20:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:37 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:37 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 20:18:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:37 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:37 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.617[m] 94.476[deg]	[grasp_sample.py: 539]
+05/13 20:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:38 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 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169902m	[env.py: 870]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18738295 -0.9530968  -0.16990238] yaw=-28.4deg	[env.py: 1019]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24756304 -1.31493722 -0.16990238] yaw=-16.5deg	[env.py: 1019]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=116.6ms, total=116.6ms	[env.py: 1075]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -0.953, -0.170)	[env.py: 1079]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.4 deg	[env.py: 1082]
+05/13 20:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:38 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:39 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 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158000m	[env.py: 870]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42617779 -1.05544812 -0.15800045] yaw=-63.8deg	[env.py: 1019]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0244362  -1.26820214 -0.15800045] yaw=-1.7deg	[env.py: 1019]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52727267 -1.02178536 -0.15800045] yaw=-73.9deg	[env.py: 1019]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.2ms, total=187.2ms	[env.py: 1075]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -1.055, -0.158)	[env.py: 1079]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg	[env.py: 1082]
+05/13 20:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:39 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:39 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 20:18:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:39 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.478s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:18:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.543s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.589[m] 87.054[deg]	[grasp_sample.py: 539]
+05/13 20:18:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:41 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 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180174m	[env.py: 870]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30143984 -0.94817534 -0.18017377] yaw=-35.6deg	[env.py: 1019]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14307228 -1.14189032 -0.18017377] yaw=-21.4deg	[env.py: 1019]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.948, -0.180)	[env.py: 1079]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/13 20:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:41 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:42 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 20:18:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:44 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.109s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:44 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.743[m] 87.701[deg]	[grasp_sample.py: 539]
+05/13 20:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:18:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:46 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 20:18:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:46 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 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134689m	[env.py: 870]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22357787 -1.38458726 -0.13468907] yaw=-34.7deg	[env.py: 1019]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=286.5ms, total=286.6ms	[env.py: 1075]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.385, -0.135)	[env.py: 1079]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg	[env.py: 1082]
+05/13 20:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:47 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:47 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 20:18:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:18:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:18:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.599[m] 95.823[deg]	[grasp_sample.py: 539]
+05/13 20:18:49 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:18:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:49 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.500[m] 71.203[deg]	[grasp_sample.py: 539]
+05/13 20:18:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:18:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:18:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:18:50 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 20:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:18:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106554m	[env.py: 870]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66548212 -0.81415231 -0.10655376] yaw=-89.3deg	[env.py: 1019]
+05/13 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.3ms	[env.py: 1075]
+05/13 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.814, -0.107)	[env.py: 1079]
+05/13 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.3 deg	[env.py: 1082]
+05/13 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/13 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:18:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:18:51 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:18:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:18:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:18:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:18:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:18:54 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 20:18:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:18:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:18:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:18:55 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.500[m] 71.203[deg]	[grasp_sample.py: 539]
+05/13 20:18:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:18:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:18:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:19:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:19:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:00 INFO: [Worker 0] Feasibility-checked 246 grasps in 9.393s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:00 INFO: [Worker 0] Feasible grasp found 321 (originally 14): w/ 0.757[m] 103.569[deg]	[grasp_sample.py: 539]
+05/13 20:19:01 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:01 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:01 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.500[m] 71.203[deg]	[grasp_sample.py: 539]
+05/13 20:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:19:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:19:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137996m	[env.py: 870]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=278.7ms, total=278.7ms	[env.py: 1105]
+05/13 20:19:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:19:03 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 20:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150717m	[env.py: 870]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22436698 -0.94619961 -0.15071677] yaw=-38.0deg	[env.py: 1019]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30795295 -1.0818092  -0.15071677] yaw=-30.0deg	[env.py: 1019]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=320.7ms, total=320.7ms	[env.py: 1075]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -0.946, -0.151)	[env.py: 1079]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg	[env.py: 1082]
+05/13 20:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 20:19:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:05 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:06 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.469s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:06 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:06 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 20:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:19:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:19:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:19:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:19:07 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.33s:
+  episode_total: mean=30.26s, total=30.26s, count=1, min=30262.9ms, max=30262.9ms
+  sensor_polling: mean=147.8ms, total=9.76s, count=66, min=135.4ms, max=243.3ms
+  physics_step: mean=8.3ms, total=550.8ms, count=66, min=6.2ms, max=14.6ms
+  task_sampling: mean=333.7ms, total=333.7ms, count=1, min=333.7ms, max=333.7ms
+  task_specific_sample: mean=331.2ms, total=331.2ms, count=1, min=331.2ms, max=331.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=260.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:19:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131638m	[env.py: 870]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4029324  -0.82362243 -0.1316382 ] yaw=-52.9deg	[env.py: 1019]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.224553   -1.29944191 -0.1316382 ] yaw=-53.1deg	[env.py: 1019]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01926241 -1.26322941 -0.1316382 ] yaw=-31.9deg	[env.py: 1019]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.1ms, total=71.1ms	[env.py: 1075]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.824, -0.132)	[env.py: 1079]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg	[env.py: 1082]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:08 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109567m	[env.py: 870]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.063s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08324479 -1.15847937 -0.10956682] yaw=-53.4deg	[env.py: 1019]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=117.3ms, total=117.3ms	[env.py: 1075]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.158, -0.110)	[env.py: 1079]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg	[env.py: 1082]
+05/13 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:09 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:09 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:19:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.552s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:10 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.572s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:10 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:12 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 20:19:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100451m	[env.py: 870]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04216723 -1.24248967 -0.10045097] yaw=-7.9deg	[env.py: 1019]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.69044169 -0.88036773 -0.10045097] yaw=-89.5deg	[env.py: 1019]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms	[env.py: 1075]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -1.242, -0.100)	[env.py: 1079]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.9 deg	[env.py: 1082]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:12 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 20:19:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154236m	[env.py: 870]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:12 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72019425 -0.89500875 -0.1542365 ] yaw=-99.7deg	[env.py: 1019]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31197601 -1.07861642 -0.1542365 ] yaw=-25.6deg	[env.py: 1019]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.1ms	[env.py: 1075]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.720, -0.895, -0.154)	[env.py: 1079]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.7 deg	[env.py: 1082]
+05/13 20:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:12 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:14 INFO: [Worker 0] Feasibility-checked 233 grasps in 1.530s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:14 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:14 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:14 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.650[m] 89.779[deg]	[grasp_sample.py: 539]
+05/13 20:19:15 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196757m	[env.py: 870]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63104747 -0.80758235 -0.19675682] yaw=-94.0deg	[env.py: 1019]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms	[env.py: 1075]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.631, -0.808, -0.197)	[env.py: 1079]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.0 deg	[env.py: 1082]
+05/13 20:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:17 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127361m	[env.py: 870]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.74611696 -0.6666658  -0.12736129] yaw=-71.4deg	[env.py: 1019]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.2ms, total=138.2ms	[env.py: 1075]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.746, -0.667, -0.127)	[env.py: 1079]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg	[env.py: 1082]
+05/13 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:17 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:19 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.537s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:19 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:19 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.739[m] 97.279[deg]	[grasp_sample.py: 539]
+05/13 20:19:20 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:19:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:20 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 20:19:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:20 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 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194735m	[env.py: 870]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61709586 -0.93208168 -0.19473501] yaw=-70.3deg	[env.py: 1019]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57860929 -0.93300761 -0.19473501] yaw=-42.3deg	[env.py: 1019]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=130.4ms, total=130.4ms	[env.py: 1075]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.617, -0.932, -0.195)	[env.py: 1079]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg	[env.py: 1082]
+05/13 20:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:21 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:21 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 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101262m	[env.py: 870]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16757684 -1.1143601  -0.10126249] yaw=-13.9deg	[env.py: 1019]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37813315 -1.10556701 -0.10126249] yaw=-21.3deg	[env.py: 1019]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41126819 -0.85932052 -0.10126249] yaw=-85.6deg	[env.py: 1019]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.4ms, total=86.4ms	[env.py: 1075]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.114, -0.101)	[env.py: 1079]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.9 deg	[env.py: 1082]
+05/13 20:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:22 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:19:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:19:22 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/13 20:19:23 INFO: [Worker 0] Feasibility-checked 237 grasps in 1.501s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:23 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:24 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.612[m] 93.734[deg]	[grasp_sample.py: 539]
+05/13 20:19:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:19:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:19:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:25 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 20:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:25 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 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199889m	[env.py: 870]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49386457 -0.81396    -0.19988875] yaw=-41.4deg	[env.py: 1019]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56654855 -0.90292606 -0.19988875] yaw=-85.3deg	[env.py: 1019]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=118.6ms, total=118.6ms	[env.py: 1075]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.814, -0.200)	[env.py: 1079]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg	[env.py: 1082]
+05/13 20:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:25 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:29 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.739[m] 85.870[deg]	[grasp_sample.py: 539]
+05/13 20:19:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:19:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:19:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:30 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:19:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:19:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:19:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.25s (batch: 3.30s, save: 4.96s)	[pipeline.py: 300]
+05/13 20:19:31 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
+  episode_total: mean=74.43s, total=74.43s, count=1, min=74431.3ms, max=74431.3ms
+  sensor_polling: mean=155.4ms, total=44.29s, count=285, min=133.7ms, max=311.8ms
+  save_trajectories: mean=4.96s, total=4.96s, count=1, min=4956.2ms, max=4956.2ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3297.9ms, max=3297.9ms
+  physics_step: mean=9.9ms, total=2.82s, count=285, min=8.5ms, max=17.4ms
+  task_sampling: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms
+  task_specific_sample: mean=385.9ms, total=385.9ms, count=1, min=385.9ms, max=385.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=257.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:19:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:33 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 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101923m	[env.py: 870]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29224246 -1.1488602  -0.10192335] yaw=-38.1deg	[env.py: 1019]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.77972817 -0.88220025 -0.10192335] yaw=-75.6deg	[env.py: 1019]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=396.0ms, total=396.0ms	[env.py: 1075]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.149, -0.102)	[env.py: 1079]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg	[env.py: 1082]
+05/13 20:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:34 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:35 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.640[m] 81.726[deg]	[grasp_sample.py: 539]
+05/13 20:19:36 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182599m	[env.py: 870]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=124.6ms, total=124.6ms	[env.py: 1105]
+05/13 20:19:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:19:38 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:19:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163240m	[env.py: 870]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16566353 -0.99252626 -0.16323995] yaw=-63.0deg	[env.py: 1019]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26786902 -1.07379825 -0.16323995] yaw=-56.7deg	[env.py: 1019]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -0.993, -0.163)	[env.py: 1079]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg	[env.py: 1082]
+05/13 20:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:40 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.544s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:19:41 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:19:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:19:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:19:42 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 20:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197043m	[env.py: 870]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27054419 -0.96164021 -0.19704286] yaw=-76.2deg	[env.py: 1019]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.1ms, total=129.1ms	[env.py: 1075]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -0.962, -0.197)	[env.py: 1079]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg	[env.py: 1082]
+05/13 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:43 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:43 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 20:19:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:45 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.088s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:45 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.739[m] 96.381[deg]	[grasp_sample.py: 539]
+05/13 20:19:46 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175162m	[env.py: 870]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37214257 -0.87486233 -0.17516174] yaw=-35.6deg	[env.py: 1019]
+05/13 20:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.4ms, total=172.4ms	[env.py: 1075]
+05/13 20:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.875, -0.175)	[env.py: 1079]
+05/13 20:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/13 20:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/13 20:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:48 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:48 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 20:19:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:19:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:50 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:50 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.758[m] 76.229[deg]	[grasp_sample.py: 539]
+05/13 20:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:19:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:19:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:19:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:19:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:19:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.12s (batch: 3.59s, save: 4.53s)	[pipeline.py: 300]
+05/13 20:19:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.08s:
+  episode_total: mean=15.30s, total=76.49s, count=5, min=141.1ms, max=72255.0ms
+  sensor_polling: mean=169.5ms, total=42.55s, count=251, min=142.3ms, max=365.8ms
+  save_trajectories: mean=4.53s, total=4.53s, count=1, min=4528.6ms, max=4528.6ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3591.9ms, max=3591.9ms
+  physics_step: mean=10.3ms, total=2.59s, count=251, min=8.3ms, max=18.1ms
+  task_specific_sample: mean=273.5ms, total=1.37s, count=5, min=135.2ms, max=397.0ms
+  task_sampling: mean=359.2ms, total=1.08s, count=3, min=298.1ms, max=399.7ms
+  task_sampling_failed: mean=154.4ms, total=308.7ms, count=2, min=141.1ms, max=167.7ms
+  scene_randomize: mean=1.8ms, total=9.0ms, count=5, min=1.4ms, max=3.4ms
+  mj_forward_sync: mean=303.2us, total=1.5ms, count=5, min=0.3ms, max=0.3ms
+  policy_setup: mean=21.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:19:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:19:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:19:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:19:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:19:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:19:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196565m	[env.py: 870]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:19:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4703353  -0.87092664 -0.19656544] yaw=-42.8deg	[env.py: 1019]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12920717 -1.27777003 -0.19656544] yaw=-20.8deg	[env.py: 1019]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24415931 -0.95152452 -0.19656544] yaw=-68.3deg	[env.py: 1019]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:19:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.2ms, total=70.3ms	[env.py: 1075]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.871, -0.197)	[env.py: 1079]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/13 20:19:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:19:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:19:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:19:53 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:19:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:19:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:19:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:19:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:19:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:19:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.725[m] 92.015[deg]	[grasp_sample.py: 539]
+05/13 20:19:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:19:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:19:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:19:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:08 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:16 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:20:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:20:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:20:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:20:20 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 20:20:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:20:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:27 INFO: [Worker 0] Object is not in grasp! 0.00162 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:20:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:20:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:20:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.079s, found 104 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:20:27 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:20:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:20:27 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/13 20:20:27 INFO: [Worker 0] Feasibility-checked 104 grasps in 0.345s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:20:27 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 3.068[deg]	[grasp_sample.py: 539]
+05/13 20:20:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:20:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:20:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:20:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:20:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.81s (batch: 3.19s, save: 4.61s)	[pipeline.py: 300]
+05/13 20:20:28 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=4.47s:
+  episode_total: mean=6.40s, total=102.37s, count=16, min=217.3ms, max=67856.9ms
+  sensor_polling: mean=155.0ms, total=39.98s, count=258, min=139.8ms, max=346.0ms
+  task_specific_sample: mean=330.1ms, total=5.28s, count=16, min=214.4ms, max=489.8ms
+  save_trajectories: mean=4.61s, total=4.61s, count=1, min=4614.1ms, max=4614.1ms
+  task_sampling: mean=343.5ms, total=4.47s, count=13, min=217.0ms, max=492.0ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3193.6ms, max=3193.6ms
+  physics_step: mean=10.0ms, total=2.59s, count=258, min=7.8ms, max=14.3ms
+  task_sampling_failed: mean=285.2ms, total=855.6ms, count=3, min=217.2ms, max=353.2ms
+  scene_randomize: mean=1.1ms, total=17.4ms, count=16, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=260.1us, total=4.2ms, count=16, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.8us, total=0.3ms, count=13, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:20:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:20:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:20:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:20:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:20:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118199m	[env.py: 870]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.9ms, total=162.9ms	[env.py: 1105]
+05/13 20:20:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:20:30 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:20:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:20:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:20:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:20:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:20:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:20:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137646m	[env.py: 870]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:20:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89563211 -0.68636935 -0.13764602] yaw=-85.4deg	[env.py: 1019]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.5ms, total=225.5ms	[env.py: 1075]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.896, -0.686, -0.138)	[env.py: 1079]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.4 deg	[env.py: 1082]
+05/13 20:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:20:32 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:20:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:20:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:20:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:34 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.472s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:20:34 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:20:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:20:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:20:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.01s (batch: 3.10s, save: 4.90s)	[pipeline.py: 300]
+05/13 20:20:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:20:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:20:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:20:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:20:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:20:35 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 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177583m	[env.py: 870]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:20:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34681884 -1.05936925 -0.17758323] yaw=-41.0deg	[env.py: 1019]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7393363  -0.77335981 -0.17758323] yaw=-92.2deg	[env.py: 1019]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09360979 -1.07386632 -0.17758323] yaw=-56.8deg	[env.py: 1019]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:20:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.3ms, total=88.3ms	[env.py: 1075]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.059, -0.178)	[env.py: 1079]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg	[env.py: 1082]
+05/13 20:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:20:35 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:20:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:20:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:20:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:20:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:20:36 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.44s:
+  episode_total: mean=16.13s, total=80.67s, count=5, min=1834.2ms, max=70865.2ms
+  sensor_polling: mean=148.4ms, total=42.29s, count=285, min=134.6ms, max=298.1ms
+  save_trajectories: mean=4.90s, total=4.90s, count=1, min=4900.5ms, max=4900.5ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3104.8ms, max=3104.8ms
+  physics_step: mean=9.7ms, total=2.77s, count=285, min=7.5ms, max=16.0ms
+  task_sampling: mean=289.0ms, total=1.44s, count=5, min=237.8ms, max=402.2ms
+  task_specific_sample: mean=286.7ms, total=1.43s, count=5, min=235.6ms, max=399.8ms
+  scene_randomize: mean=986.1us, total=4.9ms, count=5, min=0.7ms, max=1.2ms
+  mj_forward_sync: mean=243.6us, total=1.2ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.8us, 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 20:20:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:20:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:20:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:20:37 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 20:20:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:20:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193205m	[env.py: 870]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:20:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:20:37 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65053567 -0.94802353 -0.19320485] yaw=-83.6deg	[env.py: 1019]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=446.2ms, total=446.3ms	[env.py: 1075]
+05/13 20:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.651, -0.948, -0.193)	[env.py: 1079]
+05/13 20:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.6 deg	[env.py: 1082]
+05/13 20:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 20:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:20:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:20:38 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.669[m] 94.648[deg]	[grasp_sample.py: 539]
+05/13 20:20:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:20:38 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:20:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:20:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:20:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:20:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:20:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:20:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:41 INFO: [Worker 0] Feasibility-checked 246 grasps in 3.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:20:41 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.585[m] 97.247[deg]	[grasp_sample.py: 539]
+05/13 20:20:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:20:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:20:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:20:47 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:50 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:20:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:20:50 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/13 20:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:20:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:20:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.051s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:20:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:20:55 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.469[m] 68.125[deg]	[grasp_sample.py: 539]
+05/13 20:20:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:20:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:20:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:20:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:20:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.84s (batch: 2.96s, save: 4.88s)	[pipeline.py: 300]
+05/13 20:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:20:59 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.47s:
+  episode_total: mean=15.84s, total=79.19s, count=5, min=134.2ms, max=71317.0ms
+  sensor_polling: mean=151.8ms, total=43.43s, count=286, min=134.1ms, max=313.4ms
+  save_trajectories: mean=4.88s, total=4.88s, count=1, min=4878.0ms, max=4878.0ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2964.9ms, max=2964.9ms
+  physics_step: mean=9.7ms, total=2.78s, count=286, min=7.8ms, max=13.2ms
+  task_specific_sample: mean=317.5ms, total=1.59s, count=5, min=129.1ms, max=572.5ms
+  task_sampling: mean=366.8ms, total=1.47s, count=4, min=272.7ms, max=575.4ms
+  task_sampling_failed: mean=134.1ms, total=134.1ms, count=1, min=134.1ms, max=134.1ms
+  scene_randomize: mean=1.2ms, total=5.9ms, count=5, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=273.8us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:21:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:00 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 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119117m	[env.py: 870]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=144.3ms, total=144.3ms	[env.py: 1105]
+05/13 20:21:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:21:00 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:21:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:21:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:21:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:21:02 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:02 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.469[m] 68.125[deg]	[grasp_sample.py: 539]
+05/13 20:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:02 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 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161907m	[env.py: 870]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1105]
+05/13 20:21:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:21:02 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 20:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135727m	[env.py: 870]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25124375 -1.0472251  -0.13572683] yaw=-20.7deg	[env.py: 1019]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13262849 -1.02343063 -0.13572683] yaw=-52.0deg	[env.py: 1019]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.8ms, total=142.8ms	[env.py: 1075]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.047, -0.136)	[env.py: 1079]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.7 deg	[env.py: 1082]
+05/13 20:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:05 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:06 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:21:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:21:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:06 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 1.678[deg]	[grasp_sample.py: 539]
+05/13 20:21:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.760[m] 87.016[deg]	[grasp_sample.py: 539]
+05/13 20:21:08 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:21:10 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:10 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.469[m] 68.125[deg]	[grasp_sample.py: 539]
+05/13 20:21:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:21:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.85s (batch: 3.58s, save: 5.27s)	[pipeline.py: 300]
+05/13 20:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:10 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.21s:
+  episode_total: mean=77.34s, total=77.34s, count=1, min=77343.3ms, max=77343.3ms
+  sensor_polling: mean=157.5ms, total=47.25s, count=300, min=142.8ms, max=378.1ms
+  save_trajectories: mean=5.27s, total=5.27s, count=1, min=5267.8ms, max=5267.8ms
+  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3580.5ms, max=3580.5ms
+  physics_step: mean=9.8ms, total=2.95s, count=300, min=8.0ms, max=18.2ms
+  task_sampling: mean=214.6ms, total=214.6ms, count=1, min=214.6ms, max=214.6ms
+  task_specific_sample: mean=211.8ms, total=211.8ms, count=1, min=211.8ms, max=211.8ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=249.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:11 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 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119787m	[env.py: 870]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24622908 -1.34953619 -0.11978729] yaw=-37.6deg	[env.py: 1019]
+05/13 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05082596 -1.16871374 -0.11978729] yaw=-30.6deg	[env.py: 1019]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.4ms, total=148.4ms	[env.py: 1075]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -1.350, -0.120)	[env.py: 1079]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:12 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:12 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 20:21:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130335m	[env.py: 870]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.68797746 -0.93205945 -0.13033515] yaw=-77.9deg	[env.py: 1019]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 180.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.75010541 -0.92415467 -0.13033515] yaw=-81.4deg	[env.py: 1019]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms	[env.py: 1075]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.688, -0.932, -0.130)	[env.py: 1079]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.9 deg	[env.py: 1082]
+05/13 20:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/13 20:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:13 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.643[m] 97.091[deg]	[grasp_sample.py: 539]
+05/13 20:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:21:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:21:15 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:21:15 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.62s:
+  episode_total: mean=38.05s, total=38.05s, count=1, min=38055.0ms, max=38055.0ms
+  sensor_polling: mean=150.8ms, total=10.56s, count=70, min=136.4ms, max=405.7ms
+  task_sampling: mean=620.3ms, total=620.3ms, count=1, min=620.3ms, max=620.3ms
+  task_specific_sample: mean=617.7ms, total=617.7ms, count=1, min=617.7ms, max=617.7ms
+  physics_step: mean=8.3ms, total=578.1ms, count=70, min=6.3ms, max=12.4ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=267.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171187m	[env.py: 870]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34832261 -0.87751447 -0.171187  ] yaw=-50.5deg	[env.py: 1019]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60053787 -0.69903165 -0.171187  ] yaw=-95.8deg	[env.py: 1019]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14814453 -1.20491985 -0.171187  ] yaw=-47.5deg	[env.py: 1019]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms	[env.py: 1075]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.878, -0.171)	[env.py: 1079]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/13 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:17 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:18 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.580[m] 89.691[deg]	[grasp_sample.py: 539]
+05/13 20:21:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.061s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:21:20 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 20:21:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127291m	[env.py: 870]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00446579 -1.18832523 -0.12729101] yaw=-24.6deg	[env.py: 1019]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07037621 -1.25461844 -0.12729101] yaw=-39.5deg	[env.py: 1019]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.83057478 -0.93659432 -0.12729101] yaw=-107.6deg	[env.py: 1019]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.7ms, total=111.7ms	[env.py: 1075]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -1.188, -0.127)	[env.py: 1079]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.6 deg	[env.py: 1082]
+05/13 20:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:22 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:24 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.441s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:21:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:25 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 20:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117739m	[env.py: 870]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81349184 -0.76233517 -0.11773902] yaw=-84.1deg	[env.py: 1019]
+05/13 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms	[env.py: 1075]
+05/13 20:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.813, -0.762, -0.118)	[env.py: 1079]
+05/13 20:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.1 deg	[env.py: 1082]
+05/13 20:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/13 20:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:26 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:26 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 20:21:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.713[m] 97.394[deg]	[grasp_sample.py: 539]
+05/13 20:21:28 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:21:28 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:21:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:30 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 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163950m	[env.py: 870]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1436758  -1.20500841 -0.16395004] yaw=-19.1deg	[env.py: 1019]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23282099 -1.03622619 -0.16395004] yaw=-62.4deg	[env.py: 1019]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30281782 -0.94605601 -0.16395004] yaw=-31.6deg	[env.py: 1019]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.144, -1.205, -0.164)	[env.py: 1079]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.1 deg	[env.py: 1082]
+05/13 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:30 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:30 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 20:21:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:36 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.350s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:36 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.680[m] 89.905[deg]	[grasp_sample.py: 539]
+05/13 20:21:36 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:21:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156730m	[env.py: 870]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26768001 -0.9892365  -0.15672997] yaw=-28.8deg	[env.py: 1019]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62686333 -0.76108188 -0.15672997] yaw=-49.4deg	[env.py: 1019]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.1ms	[env.py: 1075]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -0.989, -0.157)	[env.py: 1079]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg	[env.py: 1082]
+05/13 20:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:38 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:21:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:21:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:21:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:21:41 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:41 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.720[m] 75.009[deg]	[grasp_sample.py: 539]
+05/13 20:21:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:42 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:21:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:43 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 20:21:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106553m	[env.py: 870]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11148927 -1.19610576 -0.10655342] yaw=-50.5deg	[env.py: 1019]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.7ms, total=120.8ms	[env.py: 1075]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.196, -0.107)	[env.py: 1079]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:44 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.448s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:21:45 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:21:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121698m	[env.py: 870]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83512637 -0.83416873 -0.12169825] yaw=-55.0deg	[env.py: 1019]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04053491 -1.25038302 -0.12169825] yaw=-36.1deg	[env.py: 1019]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=117.1ms, total=117.1ms	[env.py: 1075]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.835, -0.834, -0.122)	[env.py: 1079]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg	[env.py: 1082]
+05/13 20:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:47 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.084s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:49 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.766[m] 88.752[deg]	[grasp_sample.py: 539]
+05/13 20:21:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:21:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:21:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:21:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.34s (batch: 3.07s, save: 5.27s)	[pipeline.py: 300]
+05/13 20:21:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:21:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:21:50 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.61s:
+  episode_total: mean=25.51s, total=76.52s, count=3, min=170.2ms, max=74381.4ms
+  sensor_polling: mean=150.8ms, total=45.23s, count=300, min=136.9ms, max=330.8ms
+  save_trajectories: mean=5.27s, total=5.27s, count=1, min=5270.3ms, max=5270.3ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3073.5ms, max=3073.5ms
+  physics_step: mean=9.9ms, total=2.96s, count=300, min=8.6ms, max=45.0ms
+  task_specific_sample: mean=257.7ms, total=773.1ms, count=3, min=166.8ms, max=382.5ms
+  task_sampling: mean=305.6ms, total=611.2ms, count=2, min=226.2ms, max=384.9ms
+  task_sampling_failed: mean=170.2ms, total=170.2ms, count=1, min=170.2ms, max=170.2ms
+  scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=246.4us, total=0.7ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:21:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:21:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:51 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 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133750m	[env.py: 870]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47324849 -0.91495549 -0.13375022] yaw=-81.0deg	[env.py: 1019]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31502726 -1.14016158 -0.13375022] yaw=-37.7deg	[env.py: 1019]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:21:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=396.6ms, total=396.6ms	[env.py: 1075]
+05/13 20:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.915, -0.134)	[env.py: 1079]
+05/13 20:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg	[env.py: 1082]
+05/13 20:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 20:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:21:52 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:21:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:21:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:21:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:21:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:21:55 INFO: [Worker 0] Feasibility-checked 243 grasps in 3.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:21:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.748[m] 103.910[deg]	[grasp_sample.py: 539]
+05/13 20:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:21:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:21:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:21:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:21:58 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 20:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:21:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144194m	[env.py: 870]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=377.8ms, total=377.8ms	[env.py: 1105]
+05/13 20:21:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:21:58 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:00 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:22:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:00 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 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119710m	[env.py: 870]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.81986875 -0.82173407 -0.11970983] yaw=-108.2deg	[env.py: 1019]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48132608 -0.84235443 -0.11970983] yaw=-84.3deg	[env.py: 1019]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35465152 -1.06881947 -0.11970983] yaw=-24.7deg	[env.py: 1019]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.2ms, total=314.3ms	[env.py: 1075]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.820, -0.822, -0.120)	[env.py: 1079]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.2 deg	[env.py: 1082]
+05/13 20:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:00 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:01 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:01 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.743[m] 81.423[deg]	[grasp_sample.py: 539]
+05/13 20:22:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:02 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:22:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.369s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:04 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.604[m] 67.962[deg]	[grasp_sample.py: 539]
+05/13 20:22:05 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:06 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 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156927m	[env.py: 870]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.78063111 -0.82511137 -0.15692721] yaw=-85.8deg	[env.py: 1019]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=113.4ms, total=113.4ms	[env.py: 1075]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.781, -0.825, -0.157)	[env.py: 1079]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.8 deg	[env.py: 1082]
+05/13 20:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:07 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:08 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:08 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.684[m] 99.976[deg]	[grasp_sample.py: 539]
+05/13 20:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:12 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:22:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:22:12 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 20:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:22:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:22:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:22:14 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 20:22:15 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:15 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.571[m] 59.103[deg]	[grasp_sample.py: 539]
+05/13 20:22:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:22:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:22:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.31s (batch: 3.75s, save: 4.56s)	[pipeline.py: 300]
+05/13 20:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:22:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.36s:
+  episode_total: mean=68.88s, total=68.88s, count=1, min=68878.4ms, max=68878.4ms
+  sensor_polling: mean=157.0ms, total=41.46s, count=264, min=142.8ms, max=368.0ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4557.0ms, max=4557.0ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3754.5ms, max=3754.5ms
+  physics_step: mean=10.2ms, total=2.69s, count=264, min=7.9ms, max=15.0ms
+  task_sampling: mean=361.1ms, total=361.1ms, count=1, min=361.1ms, max=361.1ms
+  task_specific_sample: mean=358.3ms, total=358.3ms, count=1, min=358.3ms, max=358.3ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=306.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.1us, 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 20:22:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:22:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:22:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.37s (batch: 3.00s, save: 4.37s)	[pipeline.py: 300]
+05/13 20:22:22 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.69s:
+  episode_total: mean=18.64s, total=74.56s, count=4, min=154.1ms, max=70737.0ms
+  sensor_polling: mean=160.8ms, total=40.37s, count=251, min=146.0ms, max=395.8ms
+  save_trajectories: mean=4.37s, total=4.37s, count=1, min=4372.2ms, max=4372.2ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2998.6ms, max=2998.6ms
+  physics_step: mean=10.3ms, total=2.59s, count=251, min=8.3ms, max=17.7ms
+  task_specific_sample: mean=246.5ms, total=986.1ms, count=4, min=149.4ms, max=377.6ms
+  task_sampling: mean=345.3ms, total=690.6ms, count=2, min=308.8ms, max=381.8ms
+  task_sampling_failed: mean=155.2ms, total=310.4ms, count=2, min=154.1ms, max=156.4ms
+  scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.0ms, max=3.0ms
+  mj_forward_sync: mean=278.8us, total=1.1ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:22:22 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:22 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.571[m] 59.105[deg]	[grasp_sample.py: 539]
+05/13 20:22:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137173m	[env.py: 870]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.1ms, total=162.1ms	[env.py: 1105]
+05/13 20:22:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:22:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:22:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123788m	[env.py: 870]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67556588 -0.97945729 -0.12378826] yaw=-70.0deg	[env.py: 1019]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.65080338 -0.74799915 -0.12378826] yaw=-87.2deg	[env.py: 1019]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.9ms	[env.py: 1075]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.676, -0.979, -0.124)	[env.py: 1079]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg	[env.py: 1082]
+05/13 20:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:24 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.897s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.557[m] 93.625[deg]	[grasp_sample.py: 539]
+05/13 20:22:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136880m	[env.py: 870]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35558298 -1.08772667 -0.1368802 ] yaw=-47.6deg	[env.py: 1019]
+05/13 20:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.2ms, total=410.2ms	[env.py: 1075]
+05/13 20:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.088, -0.137)	[env.py: 1079]
+05/13 20:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 20:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 20:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:27 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:22:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.229s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.659[m] 95.041[deg]	[grasp_sample.py: 539]
+05/13 20:22:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:30 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:30 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.571[m] 59.105[deg]	[grasp_sample.py: 539]
+05/13 20:22:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:36 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:22:36 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=1.05s:
+  episode_total: mean=13.83s, total=41.49s, count=3, min=383.4ms, max=36621.8ms
+  sensor_polling: mean=150.9ms, total=11.77s, count=78, min=133.2ms, max=290.0ms
+  task_specific_sample: mean=476.7ms, total=1.43s, count=3, min=380.8ms, max=578.3ms
+  task_sampling: mean=526.8ms, total=1.05s, count=2, min=472.8ms, max=580.9ms
+  physics_step: mean=8.3ms, total=648.2ms, count=78, min=6.2ms, max=13.6ms
+  task_sampling_failed: mean=383.4ms, total=383.4ms, count=1, min=383.4ms, max=383.4ms
+  scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=237.3us, total=0.7ms, count=3, min=0.2ms, max=0.2ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:38 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 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125308m	[env.py: 870]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84593654 -0.8450565  -0.12530821] yaw=-64.4deg	[env.py: 1019]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33040701 -1.20300911 -0.12530821] yaw=-25.4deg	[env.py: 1019]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms	[env.py: 1075]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.846, -0.845, -0.125)	[env.py: 1079]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg	[env.py: 1082]
+05/13 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:38 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.708[m] 84.815[deg]	[grasp_sample.py: 539]
+05/13 20:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:40 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:22:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:22:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:22:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:22:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:22:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:22:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:22:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:22:41 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 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167527m	[env.py: 870]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:22:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.79614394 -0.91513438 -0.16752746] yaw=-85.8deg	[env.py: 1019]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.91415169 -0.73395915 -0.16752746] yaw=-69.6deg	[env.py: 1019]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.5ms	[env.py: 1075]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.796, -0.915, -0.168)	[env.py: 1079]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.8 deg	[env.py: 1082]
+05/13 20:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:22:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:22:42 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:22:42 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 20:22:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:22:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:22:42 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:22:42 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.586[m] 91.854[deg]	[grasp_sample.py: 539]
+05/13 20:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:22:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:22:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:22:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:22:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:22:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:23:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:08 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:23:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:23:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:23:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:23:20 INFO: [Worker 0] Preparing episode data: 247 timesteps	[save_utils.py: 278]
+05/13 20:23:24 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:23:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:23:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:23:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.72s (batch: 3.23s, save: 4.49s)	[pipeline.py: 300]
+05/13 20:23:28 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:23:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:23:28 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 20:23:28 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.24s:
+  episode_total: mean=64.08s, total=64.08s, count=1, min=64076.6ms, max=64076.6ms
+  sensor_polling: mean=155.4ms, total=38.23s, count=246, min=133.9ms, max=354.4ms
+  save_trajectories: mean=4.49s, total=4.49s, count=1, min=4486.1ms, max=4486.1ms
+  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3231.8ms, max=3231.8ms
+  physics_step: mean=9.8ms, total=2.41s, count=246, min=7.3ms, max=13.2ms
+  task_sampling: mean=238.4ms, total=238.4ms, count=1, min=238.4ms, max=238.4ms
+  task_specific_sample: mean=234.7ms, total=234.7ms, count=1, min=234.7ms, max=234.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=259.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:23:28 INFO: [Worker 0] Feasibility-checked 244 grasps in 47.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:28 INFO: [Worker 0] Feasible grasp found 485 (originally 178): w/ 0.063[m] 60.819[deg]	[grasp_sample.py: 539]
+05/13 20:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:23:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:23:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154099m	[env.py: 870]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 222 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=121.2ms, total=121.2ms	[env.py: 1105]
+05/13 20:23:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:31 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 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196254m	[env.py: 870]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02076483 -1.17928647 -0.19625393] yaw=-9.2deg	[env.py: 1019]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33635088 -1.02611846 -0.19625393] yaw=-64.7deg	[env.py: 1019]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=92.6ms, total=92.6ms	[env.py: 1075]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -1.179, -0.196)	[env.py: 1079]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.2 deg	[env.py: 1082]
+05/13 20:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:32 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.524s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:23:33 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:23:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144669m	[env.py: 870]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27682666 -1.16128472 -0.14466938] yaw=-57.3deg	[env.py: 1019]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms	[env.py: 1075]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.161, -0.145)	[env.py: 1079]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg	[env.py: 1082]
+05/13 20:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:35 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:23:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:23:35 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 20:23:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:35 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 20:23:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:36 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.688[m] 92.950[deg]	[grasp_sample.py: 539]
+05/13 20:23:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:23:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:23:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:23:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:23:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.33s (batch: 3.57s, save: 4.76s)	[pipeline.py: 300]
+05/13 20:23:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.58s:
+  episode_total: mean=35.53s, total=71.07s, count=2, min=169.9ms, max=70900.0ms
+  sensor_polling: mean=158.4ms, total=42.30s, count=267, min=144.6ms, max=387.5ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4762.3ms, max=4762.3ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3567.2ms, max=3567.2ms
+  physics_step: mean=9.8ms, total=2.63s, count=267, min=8.3ms, max=13.6ms
+  task_specific_sample: mean=372.1ms, total=744.2ms, count=2, min=165.8ms, max=578.4ms
+  task_sampling: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms
+  task_sampling_failed: mean=169.9ms, total=169.9ms, count=1, min=169.9ms, max=169.9ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms
+  mj_forward_sync: mean=267.0us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=30.9us, 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 20:23:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133169m	[env.py: 870]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24994272 -1.30650921 -0.13316895] yaw=-42.8deg	[env.py: 1019]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.7ms	[env.py: 1075]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.307, -0.133)	[env.py: 1079]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/13 20:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:40 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.578[m] 86.096[deg]	[grasp_sample.py: 539]
+05/13 20:23:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:23:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:23:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:23:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:23:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:23:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.32s (batch: 2.98s, save: 4.34s)	[pipeline.py: 300]
+05/13 20:23:43 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.56s:
+  episode_total: mean=31.67s, total=63.35s, count=2, min=1470.5ms, max=61877.3ms
+  sensor_polling: mean=149.5ms, total=37.54s, count=251, min=134.0ms, max=352.2ms
+  save_trajectories: mean=4.34s, total=4.34s, count=1, min=4343.6ms, max=4343.6ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2977.2ms, max=2977.2ms
+  physics_step: mean=9.7ms, total=2.44s, count=251, min=7.3ms, max=16.9ms
+  task_sampling: mean=279.9ms, total=559.7ms, count=2, min=266.8ms, max=292.9ms
+  task_specific_sample: mean=277.5ms, total=555.0ms, count=2, min=264.2ms, max=290.8ms
+  scene_randomize: mean=881.4us, total=1.8ms, count=2, min=0.8ms, max=0.9ms
+  mj_forward_sync: mean=239.7us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103102m	[env.py: 870]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49055644 -0.82419195 -0.10310244] yaw=-59.3deg	[env.py: 1019]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39035371 -0.98640417 -0.10310244] yaw=-77.8deg	[env.py: 1019]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.3ms	[env.py: 1075]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.824, -0.103)	[env.py: 1079]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/13 20:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:45 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.260s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:49 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.778[m] 94.661[deg]	[grasp_sample.py: 539]
+05/13 20:23:49 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:23:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129581m	[env.py: 870]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16144917 -1.43322804 -0.12958094] yaw=2.2deg	[env.py: 1019]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19807513 -1.24356981 -0.12958094] yaw=-56.9deg	[env.py: 1019]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.1ms, total=140.2ms	[env.py: 1075]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -1.433, -0.130)	[env.py: 1079]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 2.2 deg	[env.py: 1082]
+05/13 20:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:51 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:53 INFO: [Worker 0] Feasibility-checked 229 grasps in 1.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:53 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.642[m] 81.680[deg]	[grasp_sample.py: 539]
+05/13 20:23:53 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101940m	[env.py: 870]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3908763  -1.12414475 -0.10193981] yaw=-21.0deg	[env.py: 1019]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.7ms	[env.py: 1075]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.124, -0.102)	[env.py: 1079]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.0 deg	[env.py: 1082]
+05/13 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:23:55 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:23:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:23:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:23:57 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:23:57 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.680[m] 82.661[deg]	[grasp_sample.py: 539]
+05/13 20:23:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:23:58 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:23:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:23:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:23:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:23:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:23:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:23:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:23:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123248m	[env.py: 870]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:23:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11181748 -1.18212903 -0.12324806] yaw=-28.9deg	[env.py: 1019]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19042101 -1.01615909 -0.12324806] yaw=-14.8deg	[env.py: 1019]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:24:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.6ms, total=122.7ms	[env.py: 1075]
+05/13 20:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.182, -0.123)	[env.py: 1079]
+05/13 20:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.9 deg	[env.py: 1082]
+05/13 20:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/13 20:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:24:00 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:24:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:24:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:24:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:24:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:01 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.462s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:24:01 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:24:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:24:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:24:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:24:03 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 20:24:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:24:03 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 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152649m	[env.py: 870]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:24:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59156196 -0.82645337 -0.15264857] yaw=-53.4deg	[env.py: 1019]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33733537 -0.89730139 -0.15264857] yaw=-68.9deg	[env.py: 1019]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63834504 -0.67613513 -0.15264857] yaw=-51.6deg	[env.py: 1019]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:24:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.2ms, total=59.3ms	[env.py: 1075]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.826, -0.153)	[env.py: 1079]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg	[env.py: 1082]
+05/13 20:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:24:03 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:24:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:24:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:24:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:24:07 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.703[m] 92.109[deg]	[grasp_sample.py: 539]
+05/13 20:24:07 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:24:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:24:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:24:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:24:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:24:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:24:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176566m	[env.py: 870]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:24:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50853633 -1.01581253 -0.17656593] yaw=-68.7deg	[env.py: 1019]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19544023 -0.96575978 -0.17656593] yaw=-46.4deg	[env.py: 1019]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.91635215 -0.76695832 -0.17656593] yaw=-111.3deg	[env.py: 1019]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:24:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.4ms	[env.py: 1075]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -1.016, -0.177)	[env.py: 1079]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg	[env.py: 1082]
+05/13 20:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:24:10 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:24:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:24:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:24:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:24:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.602[m] 84.987[deg]	[grasp_sample.py: 539]
+05/13 20:24:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:24:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:24:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:11 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 20:24:13 INFO: [Worker 0] Feasibility-checked 222 grasps in 43.110s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:24:13 INFO: [Worker 0] Feasible grasp found 485 (originally 178): w/ 0.047[m] 36.119[deg]	[grasp_sample.py: 539]
+05/13 20:24:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:24:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:24:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:24:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:22 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:24:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:24:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:24:34 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 20:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:24:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:24:35 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 20:24:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.075s, found 279 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:24:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:24:37 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 20:24:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:24:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:24:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.88s (batch: 3.11s, save: 4.76s)	[pipeline.py: 300]
+05/13 20:24:43 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.47s:
+  episode_total: mean=23.39s, total=70.18s, count=3, min=129.0ms, max=68139.3ms
+  sensor_polling: mean=155.9ms, total=41.94s, count=269, min=139.0ms, max=428.7ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4764.5ms, max=4764.5ms
+  save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3113.9ms, max=3113.9ms
+  physics_step: mean=9.9ms, total=2.67s, count=269, min=7.6ms, max=13.3ms
+  task_specific_sample: mean=195.1ms, total=585.4ms, count=3, min=125.4ms, max=243.0ms
+  task_sampling: mean=232.6ms, total=465.1ms, count=2, min=219.6ms, max=245.5ms
+  task_sampling_failed: mean=129.0ms, total=129.0ms, count=1, min=129.0ms, max=129.0ms
+  scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.0ms, max=1.6ms
+  mj_forward_sync: mean=287.4us, total=0.9ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.8us, 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 20:24:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:24:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:24:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:24:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:24:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:24:45 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 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177838m	[env.py: 870]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:24:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42936802 -1.0616124  -0.17783766] yaw=-69.1deg	[env.py: 1019]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:24:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms	[env.py: 1075]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.062, -0.178)	[env.py: 1079]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg	[env.py: 1082]
+05/13 20:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:24:45 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:24:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:24:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:24:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:24:46 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.620[m] 85.671[deg]	[grasp_sample.py: 539]
+05/13 20:24:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:24:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:24:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.74s (batch: 3.98s, save: 4.76s)	[pipeline.py: 300]
+05/13 20:24:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:24:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:46 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 20:24:47 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.25s:
+  episode_total: mean=67.31s, total=67.31s, count=1, min=67308.7ms, max=67308.7ms
+  sensor_polling: mean=159.7ms, total=39.93s, count=250, min=144.8ms, max=371.1ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4759.6ms, max=4759.6ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3985.0ms, max=3985.0ms
+  physics_step: mean=10.1ms, total=2.53s, count=250, min=7.9ms, max=15.8ms
+  task_sampling: mean=251.0ms, total=251.0ms, count=1, min=251.0ms, max=251.0ms
+  task_specific_sample: mean=247.9ms, total=247.9ms, count=1, min=247.9ms, max=247.9ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=286.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:24:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:24:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137488m	[env.py: 870]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.90545588 -0.82856888 -0.13748803] yaw=-92.3deg	[env.py: 1019]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26593692 -0.91165524 -0.13748803] yaw=-73.6deg	[env.py: 1019]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06564358 -1.2233412  -0.13748803] yaw=-34.1deg	[env.py: 1019]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:24:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.8ms, total=99.8ms	[env.py: 1075]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.905, -0.829, -0.137)	[env.py: 1079]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.3 deg	[env.py: 1082]
+05/13 20:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 20:24:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:24:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:24:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:24:50 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:24:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:24:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:24:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:24:51 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.771s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:24:51 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.657[m] 104.067[deg]	[grasp_sample.py: 539]
+05/13 20:24:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:24:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:24:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:24:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:24:55 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.262s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:00 INFO: [Worker 0] Feasible grasp found 392 (originally 85): w/ 0.029[m] 11.600[deg]	[grasp_sample.py: 539]
+05/13 20:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:00 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:25:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182330m	[env.py: 870]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48448396 -0.77165972 -0.18232954] yaw=-60.8deg	[env.py: 1019]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.7ms	[env.py: 1075]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.772, -0.182)	[env.py: 1079]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 20:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:02 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:02 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 20:25:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:25:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.509s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:25:04 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:04 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.500[m] 73.037[deg]	[grasp_sample.py: 539]
+05/13 20:25:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:25:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:25:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:05 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 20:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:05 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 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120451m	[env.py: 870]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13978771 -1.16764686 -0.12045063] yaw=-60.3deg	[env.py: 1019]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90182654 -0.9272423  -0.12045063] yaw=-65.7deg	[env.py: 1019]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.0ms, total=271.0ms	[env.py: 1075]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.140, -1.168, -0.120)	[env.py: 1079]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg	[env.py: 1082]
+05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:06 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:06 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 20:25:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:25:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:25:07 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 20:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.539s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:25:07 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:09 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 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166235m	[env.py: 870]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.83454897 -0.81995092 -0.16623549] yaw=-57.7deg	[env.py: 1019]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2830586  -1.0699324  -0.16623549] yaw=-56.4deg	[env.py: 1019]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms	[env.py: 1075]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.835, -0.820, -0.166)	[env.py: 1079]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg	[env.py: 1082]
+05/13 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:09 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:25:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:12 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.690[m] 88.704[deg]	[grasp_sample.py: 539]
+05/13 20:25:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:25:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:25:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:25:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:25:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.51s (batch: 3.19s, save: 4.32s)	[pipeline.py: 300]
+05/13 20:25:15 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.79s:
+  episode_total: mean=13.63s, total=81.77s, count=6, min=1820.9ms, max=66295.8ms
+  sensor_polling: mean=155.6ms, total=39.52s, count=254, min=135.7ms, max=364.7ms
+  save_trajectories: mean=4.32s, total=4.32s, count=1, min=4324.9ms, max=4324.9ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3185.8ms, max=3185.8ms
+  physics_step: mean=9.9ms, total=2.51s, count=254, min=7.9ms, max=16.0ms
+  task_sampling: mean=297.6ms, total=1.79s, count=6, min=201.2ms, max=400.3ms
+  task_specific_sample: mean=295.2ms, total=1.77s, count=6, min=198.7ms, max=398.1ms
+  scene_randomize: mean=1.1ms, total=6.6ms, count=6, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=247.9us, total=1.5ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.2us, 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 20:25:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:25:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142561m	[env.py: 870]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47409504 -0.97711212 -0.14256132] yaw=-73.9deg	[env.py: 1019]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.9ms, total=126.0ms	[env.py: 1075]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.977, -0.143)	[env.py: 1079]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg	[env.py: 1082]
+05/13 20:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:17 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.088s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.656[m] 90.407[deg]	[grasp_sample.py: 539]
+05/13 20:25:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:25:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:25:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:25:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:25:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:27 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:27 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.517[m] 60.925[deg]	[grasp_sample.py: 539]
+05/13 20:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:31 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:25:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:25:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.066s, found 144 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:34 INFO: [Worker 0] Feasibility-checked 144 grasps in 1.061s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:25:34 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.027[m] 1.244[deg]	[grasp_sample.py: 539]
+05/13 20:25:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:25:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:25:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:44 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:25:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:25:44 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 20:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:25:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:25:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:25:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:25:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:25:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:25:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.85s (batch: 3.31s, save: 4.53s)	[pipeline.py: 300]
+05/13 20:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:53 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.25s:
+  episode_total: mean=68.05s, total=68.05s, count=1, min=68051.0ms, max=68051.0ms
+  sensor_polling: mean=156.7ms, total=39.95s, count=255, min=136.1ms, max=325.6ms
+  save_trajectories: mean=4.53s, total=4.53s, count=1, min=4531.3ms, max=4531.3ms
+  save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3315.0ms, max=3315.0ms
+  physics_step: mean=10.1ms, total=2.57s, count=255, min=8.1ms, max=14.4ms
+  task_sampling: mean=247.1ms, total=247.1ms, count=1, min=247.1ms, max=247.1ms
+  task_specific_sample: mean=244.0ms, total=244.0ms, count=1, min=244.0ms, max=244.0ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=354.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:25:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:55 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 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192229m	[env.py: 870]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.84796164 -0.68495659 -0.1922291 ] yaw=-101.3deg	[env.py: 1019]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59672444 -0.72845344 -0.1922291 ] yaw=-54.3deg	[env.py: 1019]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27471738 -1.16812673 -0.1922291 ] yaw=-14.9deg	[env.py: 1019]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.4ms, total=153.4ms	[env.py: 1075]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.685, -0.192)	[env.py: 1079]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.3 deg	[env.py: 1082]
+05/13 20:25:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:55 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 249 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:56 INFO: [Worker 0] Feasibility-checked 249 grasps in 1.504s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:25:56 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:25:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:25:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:25:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.076s, found 136 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:25:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:25:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:25:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:25:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:25:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:25:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138120m	[env.py: 870]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:25:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59246983 -0.74748991 -0.13812023] yaw=-78.4deg	[env.py: 1019]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:25:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.8ms, total=119.8ms	[env.py: 1075]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.747, -0.138)	[env.py: 1079]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg	[env.py: 1082]
+05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:25:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:25:59 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:25:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:25:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:25:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:25:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:00 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:26:00 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187414m	[env.py: 870]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49421337 -0.74398976 -0.18741401] yaw=-53.2deg	[env.py: 1019]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18447588 -1.20810241 -0.18741401] yaw=-5.9deg	[env.py: 1019]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24490207 -0.9115817  -0.18741401] yaw=-65.1deg	[env.py: 1019]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.6ms, total=367.6ms	[env.py: 1075]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.744, -0.187)	[env.py: 1079]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/13 20:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:02 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:26:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.511s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:26:04 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:26:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191306m	[env.py: 870]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38356656 -0.8640941  -0.1913062 ] yaw=-35.1deg	[env.py: 1019]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.8ms, total=122.8ms	[env.py: 1075]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.864, -0.191)	[env.py: 1079]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg	[env.py: 1082]
+05/13 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:06 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:26:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:07 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:26:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:26:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.734[m] 83.711[deg]	[grasp_sample.py: 539]
+05/13 20:26:08 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:26:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:10 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 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153439m	[env.py: 870]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=123.6ms, total=123.6ms	[env.py: 1105]
+05/13 20:26:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:26:10 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:26:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145234m	[env.py: 870]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82964193 -0.85348588 -0.14523426] yaw=-63.7deg	[env.py: 1019]
+05/13 20:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24272233 -0.91585054 -0.14523426] yaw=-69.0deg	[env.py: 1019]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.6ms, total=124.6ms	[env.py: 1075]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.830, -0.853, -0.145)	[env.py: 1079]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg	[env.py: 1082]
+05/13 20:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 20:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:12 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:26:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:26:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.674[m] 83.607[deg]	[grasp_sample.py: 539]
+05/13 20:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:26:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:26:20 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 20:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:26:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:26:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.63s (batch: 3.12s, save: 4.51s)	[pipeline.py: 300]
+05/13 20:26:28 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.29s:
+  episode_total: mean=71.44s, total=71.44s, count=1, min=71435.1ms, max=71435.1ms
+  sensor_polling: mean=151.2ms, total=39.61s, count=262, min=136.1ms, max=324.8ms
+  save_trajectories: mean=4.51s, total=4.51s, count=1, min=4514.5ms, max=4514.5ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3118.4ms, max=3118.4ms
+  physics_step: mean=9.8ms, total=2.57s, count=262, min=7.5ms, max=16.1ms
+  task_sampling: mean=291.0ms, total=291.0ms, count=1, min=291.0ms, max=291.0ms
+  task_specific_sample: mean=288.4ms, total=288.4ms, count=1, min=288.4ms, max=288.4ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=244.3us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  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 20:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111943m	[env.py: 870]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21502234 -1.37669377 -0.11194312] yaw=-47.6deg	[env.py: 1019]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01952889 -1.22161235 -0.11194312] yaw=-38.6deg	[env.py: 1019]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47112252 -0.86510092 -0.11194312] yaw=-49.2deg	[env.py: 1019]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.2ms, total=113.3ms	[env.py: 1075]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.377, -0.112)	[env.py: 1079]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 20:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:30 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:30 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 20:26:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:31 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:26:31 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.650[m] 80.961[deg]	[grasp_sample.py: 539]
+05/13 20:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:26:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:26:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:32 INFO: [Worker 0] Feasibility-checked 136 grasps in 34.362s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:26:32 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:26:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158124m	[env.py: 870]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23417104 -0.95844172 -0.15812441] yaw=-35.3deg	[env.py: 1019]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.90319458 -0.64612233 -0.15812441] yaw=-60.9deg	[env.py: 1019]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=104.0ms, total=104.0ms	[env.py: 1075]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -0.958, -0.158)	[env.py: 1079]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg	[env.py: 1082]
+05/13 20:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:35 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:35 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 20:26:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:37 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:26:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:26:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:26:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:26:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:26:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140475m	[env.py: 870]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:26:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46202438 -1.04442871 -0.14047466] yaw=-65.0deg	[env.py: 1019]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65831245 -0.95407193 -0.14047466] yaw=-78.4deg	[env.py: 1019]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:26:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.1ms, total=143.1ms	[env.py: 1075]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -1.044, -0.140)	[env.py: 1079]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg	[env.py: 1082]
+05/13 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:26:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:26:40 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:26:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:26:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:26:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:26:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.608[m] 88.048[deg]	[grasp_sample.py: 539]
+05/13 20:26:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:26:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:26:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:41 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 20:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:26:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:26:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:26:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:26:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.066s, found 120 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:26:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:27:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:04 INFO: [Worker 0] Feasibility-checked 120 grasps in 22.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:04 INFO: [Worker 0] Feasible grasp found 5 (originally 5): w/ 0.028[m] 58.451[deg]	[grasp_sample.py: 539]
+05/13 20:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:27:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:27:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:27:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:27:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 150 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:27:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:27:07 INFO: [Worker 0] Feasibility-checked 241 grasps in 80.048s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:07 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:27:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:27:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:27:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:27:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:27:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:27:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147518m	[env.py: 870]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:27:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28617369 -0.97323669 -0.147518  ] yaw=-44.0deg	[env.py: 1019]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26835665 -1.25598564 -0.147518  ] yaw=-38.9deg	[env.py: 1019]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:27:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.2ms, total=220.2ms	[env.py: 1075]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -0.973, -0.148)	[env.py: 1079]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg	[env.py: 1082]
+05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:27:09 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:27:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:27:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:27:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:27:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:12 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.739[m] 86.854[deg]	[grasp_sample.py: 539]
+05/13 20:27:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:27:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:27:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:27:14 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:27:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:27:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:27:26 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 20:27:28 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:27:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:27:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:27:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.87s (batch: 3.06s, save: 4.82s)	[pipeline.py: 300]
+05/13 20:27:35 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.28s:
+  episode_total: mean=64.62s, total=64.62s, count=1, min=64621.9ms, max=64621.9ms
+  sensor_polling: mean=147.9ms, total=39.35s, count=266, min=136.2ms, max=346.3ms
+  save_trajectories: mean=4.82s, total=4.82s, count=1, min=4816.4ms, max=4816.4ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3055.9ms, max=3055.9ms
+  physics_step: mean=9.7ms, total=2.57s, count=266, min=7.5ms, max=26.0ms
+  task_sampling: mean=276.1ms, total=276.1ms, count=1, min=276.1ms, max=276.1ms
+  task_specific_sample: mean=273.3ms, total=273.3ms, count=1, min=273.3ms, max=273.3ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=252.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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 20:27:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:27:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:27:37 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 20:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103184m	[env.py: 870]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.70091069 -0.67627359 -0.10318408] yaw=-70.2deg	[env.py: 1019]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31969661 -0.92015979 -0.10318408] yaw=-53.1deg	[env.py: 1019]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24563377 -1.07840438 -0.10318408] yaw=-22.8deg	[env.py: 1019]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms	[env.py: 1075]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.701, -0.676, -0.103)	[env.py: 1079]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/13 20:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:27:37 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:27:37 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 20:27:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:27:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:27:37 INFO: [Worker 0] Feasibility-checked 150 grasps in 32.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:37 INFO: [Worker 0] Feasible grasp found 5 (originally 5): w/ 0.027[m] 41.478[deg]	[grasp_sample.py: 539]
+05/13 20:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:27:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.499s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:27:38 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:27:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:27:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:27:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:27:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:27:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:27:40 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 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116741m	[env.py: 870]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:27:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53957817 -1.03612767 -0.11674117] yaw=-45.8deg	[env.py: 1019]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89811192 -0.78394414 -0.11674117] yaw=-110.4deg	[env.py: 1019]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61991859 -0.70543002 -0.11674117] yaw=-83.4deg	[env.py: 1019]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:27:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.0ms, total=118.0ms	[env.py: 1075]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -1.036, -0.117)	[env.py: 1079]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg	[env.py: 1082]
+05/13 20:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:27:41 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:27:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:27:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:27:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:27:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:27:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:27:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:27:41 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 20:27:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.737s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.605[m] 80.083[deg]	[grasp_sample.py: 539]
+05/13 20:27:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:27:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:27:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:27:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:27:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:27:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 9.02s (batch: 4.16s, save: 4.86s)	[pipeline.py: 300]
+05/13 20:27:51 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.79s:
+  episode_total: mean=58.67s, total=176.02s, count=3, min=1842.9ms, max=103010.6ms
+  sensor_polling: mean=157.3ms, total=82.11s, count=522, min=140.1ms, max=386.3ms
+  physics_step: mean=10.0ms, total=5.22s, count=522, min=6.8ms, max=16.5ms
+  save_trajectories: mean=4.86s, total=4.86s, count=1, min=4857.0ms, max=4857.0ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4162.7ms, max=4162.7ms
+  task_sampling: mean=262.1ms, total=786.2ms, count=3, min=239.8ms, max=299.8ms
+  task_specific_sample: mean=258.8ms, total=776.3ms, count=3, min=236.7ms, max=296.1ms
+  scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=270.0us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.2us, 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 20:27:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:27:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:27:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:27:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:27:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:27:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145070m	[env.py: 870]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:27:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.74476464 -0.86491739 -0.14506992] yaw=-57.0deg	[env.py: 1019]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:27:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=105.3ms, total=105.3ms	[env.py: 1075]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.745, -0.865, -0.145)	[env.py: 1079]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/13 20:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:27:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:27:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:27:54 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:27:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:27:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:27:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:27:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:27:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:27:55 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.682[m] 87.247[deg]	[grasp_sample.py: 539]
+05/13 20:27:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:27:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:27:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:27:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:27:58 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:28:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:02 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:28:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:28:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:28:09 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 20:28:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:11 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:28:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:28:11 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/13 20:28:11 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:11 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.447[m] 56.712[deg]	[grasp_sample.py: 539]
+05/13 20:28:11 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117442m	[env.py: 870]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=123.8ms, total=123.8ms	[env.py: 1105]
+05/13 20:28:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:28:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:28:16 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:28:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:28:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:28:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:16 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 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155341m	[env.py: 870]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22832788 -1.29235457 -0.1553406 ] yaw=-38.3deg	[env.py: 1019]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40988392 -0.91121552 -0.1553406 ] yaw=-80.1deg	[env.py: 1019]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47848938 -1.00746819 -0.1553406 ] yaw=-50.8deg	[env.py: 1019]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.4ms, total=116.4ms	[env.py: 1075]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -1.292, -0.155)	[env.py: 1079]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg	[env.py: 1082]
+05/13 20:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:16 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:28:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:28:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.90s (batch: 3.13s, save: 4.77s)	[pipeline.py: 300]
+05/13 20:28:19 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:19 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.564[m] 88.501[deg]	[grasp_sample.py: 539]
+05/13 20:28:19 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=3.64s:
+  episode_total: mean=33.73s, total=404.76s, count=12, min=1784.8ms, max=173885.3ms
+  sensor_polling: mean=147.8ms, total=108.21s, count=732, min=128.0ms, max=433.3ms
+  physics_step: mean=9.4ms, total=6.87s, count=732, min=7.3ms, max=16.9ms
+  save_trajectories: mean=4.77s, total=4.77s, count=1, min=4766.8ms, max=4766.8ms
+  task_sampling: mean=303.3ms, total=3.64s, count=12, min=251.6ms, max=417.0ms
+  task_specific_sample: mean=301.1ms, total=3.61s, count=12, min=249.9ms, max=414.6ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3133.0ms, max=3133.0ms
+  scene_randomize: mean=961.1us, total=11.5ms, count=12, min=0.7ms, max=1.2ms
+  mj_forward_sync: mean=236.8us, total=2.8ms, count=12, min=0.2ms, max=0.3ms
+  policy_setup: mean=12.9us, total=0.2ms, 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 20:28:20 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:20 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 20:28:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:21 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 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119748m	[env.py: 870]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.75659447 -0.68484305 -0.11974806] yaw=-78.4deg	[env.py: 1019]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47969477 -1.06820505 -0.11974806] yaw=-79.2deg	[env.py: 1019]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26090912 -1.27306825 -0.11974806] yaw=-7.7deg	[env.py: 1019]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.1ms	[env.py: 1075]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.757, -0.685, -0.120)	[env.py: 1079]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg	[env.py: 1082]
+05/13 20:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:21 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:22 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 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178972m	[env.py: 870]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36164556 -1.03033278 -0.17897172] yaw=-33.6deg	[env.py: 1019]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.5ms	[env.py: 1075]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.030, -0.179)	[env.py: 1079]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg	[env.py: 1082]
+05/13 20:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:22 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:23 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.367s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:28:23 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:28:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:28:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:28:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.24s (batch: 2.93s, save: 5.31s)	[pipeline.py: 300]
+05/13 20:28:24 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.135s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:24 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.649[m] 88.238[deg]	[grasp_sample.py: 539]
+05/13 20:28:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:24 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 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105199m	[env.py: 870]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:28:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67446969 -0.78415078 -0.10519894] yaw=-88.1deg	[env.py: 1019]
+05/13 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:24 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.68s:
+  episode_total: mean=23.59s, total=141.53s, count=6, min=129.9ms, max=133032.7ms
+  sensor_polling: mean=151.5ms, total=45.45s, count=300, min=139.3ms, max=287.7ms
+  save_trajectories: mean=5.31s, total=5.31s, count=1, min=5308.6ms, max=5308.6ms
+  physics_step: mean=9.9ms, total=2.97s, count=300, min=6.9ms, max=15.0ms
+  save_batch_prep: mean=2.93s, total=2.93s, count=1, min=2927.2ms, max=2927.2ms
+  task_specific_sample: mean=299.4ms, total=1.80s, count=6, min=126.8ms, max=533.1ms
+  task_sampling: mean=336.2ms, total=1.68s, count=5, min=266.4ms, max=534.9ms
+  task_sampling_failed: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
+  scene_randomize: mean=914.8us, total=5.5ms, count=6, min=0.7ms, max=1.4ms
+  mj_forward_sync: mean=248.2us, total=1.5ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:28:25 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.6ms, total=125.6ms	[env.py: 1075]
+05/13 20:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.674, -0.784, -0.105)	[env.py: 1079]
+05/13 20:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.1 deg	[env.py: 1082]
+05/13 20:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 20:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:25 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:28:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188477m	[env.py: 870]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35844241 -1.16944906 -0.18847714] yaw=-41.2deg	[env.py: 1019]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17274492 -1.01807064 -0.18847714] yaw=-70.0deg	[env.py: 1019]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms	[env.py: 1075]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.169, -0.188)	[env.py: 1079]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/13 20:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:27 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:27 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.567[m] 77.637[deg]	[grasp_sample.py: 539]
+05/13 20:28:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:28:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:28:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:28 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 20:28:31 INFO: [Worker 0] Feasibility-checked 246 grasps in 6.042s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:31 INFO: [Worker 0] Feasible grasp found 560 (originally 253): w/ 0.771[m] 104.528[deg]	[grasp_sample.py: 539]
+05/13 20:28:31 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174571m	[env.py: 870]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68529499 -0.7151257  -0.1745711 ] yaw=-60.3deg	[env.py: 1019]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30156074 -1.15066211 -0.1745711 ] yaw=-35.6deg	[env.py: 1019]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43138223 -0.83647311 -0.1745711 ] yaw=-47.6deg	[env.py: 1019]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.715, -0.175)	[env.py: 1079]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg	[env.py: 1082]
+05/13 20:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:33 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.479s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:28:35 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:28:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:36 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 20:28:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109289m	[env.py: 870]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.78504354 -0.89128842 -0.10928891] yaw=-85.0deg	[env.py: 1019]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60138304 -0.94397298 -0.10928891] yaw=-68.9deg	[env.py: 1019]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.785, -0.891, -0.109)	[env.py: 1079]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.0 deg	[env.py: 1082]
+05/13 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:28:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:28:37 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 20:28:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:37 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:37 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 20:28:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:38 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.642[m] 95.955[deg]	[grasp_sample.py: 539]
+05/13 20:28:38 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:39 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 20:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167902m	[env.py: 870]
+05/13 20:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65012706 -0.80245975 -0.16790211] yaw=-69.9deg	[env.py: 1019]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.3ms, total=131.3ms	[env.py: 1075]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.802, -0.168)	[env.py: 1079]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg	[env.py: 1082]
+05/13 20:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/13 20:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:40 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.693[m] 90.117[deg]	[grasp_sample.py: 539]
+05/13 20:28:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:28:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:28:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.57s (batch: 3.10s, save: 4.48s)	[pipeline.py: 300]
+05/13 20:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:45 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.54s:
+  episode_total: mean=33.27s, total=66.54s, count=2, min=1880.2ms, max=64658.3ms
+  sensor_polling: mean=148.8ms, total=38.23s, count=257, min=131.0ms, max=377.0ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4479.4ms, max=4479.4ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3095.1ms, max=3095.1ms
+  physics_step: mean=9.6ms, total=2.47s, count=257, min=7.8ms, max=15.3ms
+  task_sampling: mean=271.0ms, total=542.0ms, count=2, min=269.1ms, max=272.9ms
+  task_specific_sample: mean=268.1ms, total=536.1ms, count=2, min=266.1ms, max=270.1ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.0ms, max=1.7ms
+  mj_forward_sync: mean=274.9us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:28:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:46 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 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178489m	[env.py: 870]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63916014 -0.67890526 -0.17848884] yaw=-84.2deg	[env.py: 1019]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2519     -1.28316375 -0.17848884] yaw=-12.5deg	[env.py: 1019]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.679, -0.178)	[env.py: 1079]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.2 deg	[env.py: 1082]
+05/13 20:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:46 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184737m	[env.py: 870]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29715444 -0.88717813 -0.18473688] yaw=-58.2deg	[env.py: 1019]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15336393 -1.43065144 -0.18473688] yaw=-18.4deg	[env.py: 1019]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.6ms	[env.py: 1075]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -0.887, -0.185)	[env.py: 1079]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/13 20:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:47 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.533s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:28:48 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:28:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:28:48 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:28:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:50 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 20:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:50 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 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182872m	[env.py: 870]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.77643566 -0.90427461 -0.1828725 ] yaw=-75.2deg	[env.py: 1019]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.776, -0.904, -0.183)	[env.py: 1079]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.2 deg	[env.py: 1082]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:50 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:50 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 20:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113918m	[env.py: 870]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.82281623 -0.78174705 -0.11391795] yaw=-61.7deg	[env.py: 1019]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.3ms, total=125.4ms	[env.py: 1075]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.782, -0.114)	[env.py: 1079]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/13 20:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:50 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:51 INFO: [Worker 0] Feasibility-checked 247 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.577[m] 88.210[deg]	[grasp_sample.py: 539]
+05/13 20:28:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:28:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:28:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:28:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:52 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.777[m] 87.831[deg]	[grasp_sample.py: 539]
+05/13 20:28:53 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:28:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:28:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174653m	[env.py: 870]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71466495 -0.90851995 -0.17465348] yaw=-99.0deg	[env.py: 1019]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.89513608 -0.7696802  -0.17465348] yaw=-98.2deg	[env.py: 1019]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.5ms, total=124.6ms	[env.py: 1075]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.715, -0.909, -0.175)	[env.py: 1079]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.0 deg	[env.py: 1082]
+05/13 20:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:28:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:28:55 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:28:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:28:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:28:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:28:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:28:55 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:28:55 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.644[m] 96.573[deg]	[grasp_sample.py: 539]
+05/13 20:28:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:28:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:28:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:08 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:08 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.507[m] 70.239[deg]	[grasp_sample.py: 539]
+05/13 20:29:08 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:29:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:09 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:10 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 20:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123198m	[env.py: 870]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77172819 -0.81813868 -0.12319842] yaw=-88.8deg	[env.py: 1019]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.90230296 -0.82483065 -0.12319842] yaw=-98.4deg	[env.py: 1019]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=147.3ms, total=147.3ms	[env.py: 1075]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.772, -0.818, -0.123)	[env.py: 1079]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.8 deg	[env.py: 1082]
+05/13 20:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:10 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:11 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:29:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.304s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:12 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.702[m] 93.221[deg]	[grasp_sample.py: 539]
+05/13 20:29:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:29:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:20 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:29:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:29:20 INFO: [Worker 0] Preparing episode data: 248 timesteps	[save_utils.py: 278]
+05/13 20:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:29:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:29:24 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 20:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:27 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.071s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:27 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.531[m] 64.653[deg]	[grasp_sample.py: 539]
+05/13 20:29:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:29:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:29:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.30s (batch: 2.97s, save: 4.33s)	[pipeline.py: 300]
+05/13 20:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:28 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.34s:
+  episode_total: mean=62.08s, total=62.08s, count=1, min=62083.0ms, max=62083.0ms
+  sensor_polling: mean=154.6ms, total=38.18s, count=247, min=139.0ms, max=446.9ms
+  save_trajectories: mean=4.33s, total=4.33s, count=1, min=4329.0ms, max=4329.0ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2969.1ms, max=2969.1ms
+  physics_step: mean=10.1ms, total=2.50s, count=247, min=7.6ms, max=16.9ms
+  task_sampling: mean=339.5ms, total=339.5ms, count=1, min=339.5ms, max=339.5ms
+  task_specific_sample: mean=336.8ms, total=336.8ms, count=1, min=336.8ms, max=336.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=336.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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 20:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:30 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 20:29:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112263m	[env.py: 870]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90103487 -0.86116267 -0.11226335] yaw=-98.6deg	[env.py: 1019]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63858251 -0.89085255 -0.11226335] yaw=-91.3deg	[env.py: 1019]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22294682 -0.94003504 -0.11226335] yaw=-38.8deg	[env.py: 1019]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.4ms, total=74.4ms	[env.py: 1075]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.901, -0.861, -0.112)	[env.py: 1079]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg	[env.py: 1082]
+05/13 20:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:30 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:31 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:31 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.679[m] 88.041[deg]	[grasp_sample.py: 539]
+05/13 20:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:29:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:29:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.23s (batch: 3.62s, save: 4.62s)	[pipeline.py: 300]
+05/13 20:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:33 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:29:33 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.94s:
+  episode_total: mean=23.20s, total=92.80s, count=4, min=132.8ms, max=71018.1ms
+  sensor_polling: mean=159.4ms, total=53.25s, count=334, min=136.0ms, max=386.9ms
+  save_trajectories: mean=4.62s, total=4.62s, count=1, min=4615.9ms, max=4615.9ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3616.8ms, max=3616.8ms
+  physics_step: mean=9.9ms, total=3.32s, count=334, min=7.4ms, max=20.1ms
+  task_specific_sample: mean=264.0ms, total=1.06s, count=4, min=128.4ms, max=366.8ms
+  task_sampling: mean=312.2ms, total=936.5ms, count=3, min=255.2ms, max=370.3ms
+  task_sampling_failed: mean=132.7ms, total=132.7ms, count=1, min=132.7ms, max=132.7ms
+  scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=297.9us, total=1.2ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:29:34 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:34 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.531[m] 64.656[deg]	[grasp_sample.py: 539]
+05/13 20:29:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143578m	[env.py: 870]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.86148237 -0.85384536 -0.14357808] yaw=-75.6deg	[env.py: 1019]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02536201 -1.39711299 -0.14357808] yaw=-11.0deg	[env.py: 1019]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=140.0ms	[env.py: 1075]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.861, -0.854, -0.144)	[env.py: 1079]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg	[env.py: 1082]
+05/13 20:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:35 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:35 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 20:29:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:36 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.892s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.654[m] 91.254[deg]	[grasp_sample.py: 539]
+05/13 20:29:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:42 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.920s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:42 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.531[m] 64.656[deg]	[grasp_sample.py: 539]
+05/13 20:29:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:43 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 20:29:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:44 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:44 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.509[m] 61.254[deg]	[grasp_sample.py: 539]
+05/13 20:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:29:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:29:44 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 20:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:29:47 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:29:47 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=1.11s:
+  episode_total: mean=13.82s, total=55.28s, count=4, min=1909.2ms, max=37169.0ms
+  sensor_polling: mean=151.9ms, total=18.69s, count=123, min=137.0ms, max=373.1ms
+  task_sampling: mean=278.1ms, total=1.11s, count=4, min=248.2ms, max=314.7ms
+  task_specific_sample: mean=275.6ms, total=1.10s, count=4, min=245.6ms, max=312.4ms
+  physics_step: mean=8.7ms, total=1.07s, count=123, min=6.2ms, max=14.2ms
+  scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=265.6us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.3us, 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 20:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198829m	[env.py: 870]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1134164  -1.05431909 -0.19882934] yaw=-46.8deg	[env.py: 1019]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74007417 -0.89963956 -0.19882934] yaw=-74.9deg	[env.py: 1019]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.0ms, total=239.1ms	[env.py: 1075]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.054, -0.199)	[env.py: 1079]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 20:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:49 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:50 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:50 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.503[m] 60.565[deg]	[grasp_sample.py: 539]
+05/13 20:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:51 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.550s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:29:51 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:29:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:29:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.47s (batch: 3.17s, save: 4.30s)	[pipeline.py: 300]
+05/13 20:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:52 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=2.24s:
+  episode_total: mean=11.71s, total=81.94s, count=7, min=1615.0ms, max=62721.7ms
+  sensor_polling: mean=150.9ms, total=37.72s, count=250, min=133.2ms, max=436.7ms
+  save_trajectories: mean=4.30s, total=4.30s, count=1, min=4301.6ms, max=4301.6ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3172.1ms, max=3172.1ms
+  physics_step: mean=9.9ms, total=2.47s, count=250, min=7.7ms, max=17.0ms
+  task_sampling: mean=320.0ms, total=2.24s, count=7, min=265.7ms, max=528.3ms
+  task_specific_sample: mean=317.9ms, total=2.23s, count=7, min=263.5ms, max=526.2ms
+  scene_randomize: mean=992.2us, total=6.9ms, count=7, min=0.7ms, max=1.6ms
+  mj_forward_sync: mean=270.5us, total=1.9ms, count=7, min=0.2ms, max=0.4ms
+  policy_setup: mean=14.0us, 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 20:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141648m	[env.py: 870]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49749045 -0.8964505  -0.14164797] yaw=-56.9deg	[env.py: 1019]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.76546593 -0.67291726 -0.14164797] yaw=-90.3deg	[env.py: 1019]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.896, -0.142)	[env.py: 1079]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg	[env.py: 1082]
+05/13 20:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/13 20:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:53 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:53 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 20:29:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:54 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 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143192m	[env.py: 870]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02008727 -1.28311929 -0.14319197] yaw=-27.2deg	[env.py: 1019]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31094096 -1.1755684  -0.14319197] yaw=-50.3deg	[env.py: 1019]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.5ms	[env.py: 1075]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -1.283, -0.143)	[env.py: 1079]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg	[env.py: 1082]
+05/13 20:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:54 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.719[m] 89.459[deg]	[grasp_sample.py: 539]
+05/13 20:29:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:55 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:56 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.488s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:29:56 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:29:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:29:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152281m	[env.py: 870]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.593382   -0.93938475 -0.15228106] yaw=-81.9deg	[env.py: 1019]
+05/13 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49561847 -0.81559982 -0.15228106] yaw=-55.7deg	[env.py: 1019]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.70455896 -0.90750303 -0.15228106] yaw=-84.9deg	[env.py: 1019]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms	[env.py: 1075]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.939, -0.152)	[env.py: 1079]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.9 deg	[env.py: 1082]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:57 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:57 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:57 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.503[m] 60.568[deg]	[grasp_sample.py: 539]
+05/13 20:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:29:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:29:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:29:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:29:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:29:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:29:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:29:57 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 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171161m	[env.py: 870]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:29:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11578706 -1.39500745 -0.17116062] yaw=-6.3deg	[env.py: 1019]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.040437   -1.35122396 -0.17116062] yaw=3.3deg	[env.py: 1019]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:29:58 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:29:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.691[m] 97.764[deg]	[grasp_sample.py: 539]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:29:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.6ms, total=124.6ms	[env.py: 1075]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.395, -0.171)	[env.py: 1079]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.3 deg	[env.py: 1082]
+05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:29:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:29:58 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:29:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:29:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:29:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:29:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:58 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:29:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123432m	[env.py: 870]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12258714 -1.2856942  -0.12343174] yaw=-48.9deg	[env.py: 1019]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34672473 -0.92452805 -0.12343174] yaw=-36.2deg	[env.py: 1019]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63404416 -0.92525566 -0.12343174] yaw=-96.3deg	[env.py: 1019]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.8ms, total=79.9ms	[env.py: 1075]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.123, -1.286, -0.123)	[env.py: 1079]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg	[env.py: 1082]
+05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:00 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:01 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:01 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.643[m] 89.687[deg]	[grasp_sample.py: 539]
+05/13 20:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:01 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:03 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 20:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:03 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 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132233m	[env.py: 870]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:30:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:03 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:30:03 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
+05/13 20:30:03 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.21s:
+  episode_total: mean=33.13s, total=33.13s, count=1, min=33134.1ms, max=33134.1ms
+  sensor_polling: mean=151.2ms, total=11.79s, count=78, min=135.5ms, max=228.3ms
+  physics_step: mean=8.9ms, total=697.2ms, count=78, min=6.6ms, max=20.6ms
+  task_sampling: mean=212.6ms, total=212.6ms, count=1, min=212.6ms, max=212.6ms
+  task_specific_sample: mean=210.0ms, total=210.0ms, count=1, min=210.0ms, max=210.0ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=265.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.5us, 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 20:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=292.6ms, total=292.6ms	[env.py: 1105]
+05/13 20:30:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:30:03 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 20:30:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:04 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:30:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109021m	[env.py: 870]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25975056 -1.05659923 -0.10902142] yaw=-61.7deg	[env.py: 1019]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms	[env.py: 1075]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.057, -0.109)	[env.py: 1079]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176366m	[env.py: 870]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14509533 -1.08833469 -0.17636593] yaw=-55.1deg	[env.py: 1019]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.843031   -0.71664852 -0.17636593] yaw=-86.4deg	[env.py: 1019]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:05 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.5ms, total=128.5ms	[env.py: 1075]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.088, -0.176)	[env.py: 1079]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg	[env.py: 1082]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:05 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152225m	[env.py: 870]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67281751 -0.80055449 -0.15222483] yaw=-81.1deg	[env.py: 1019]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42812704 -1.01831266 -0.15222483] yaw=-42.4deg	[env.py: 1019]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.5ms	[env.py: 1075]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.801, -0.152)	[env.py: 1079]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 20:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:05 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.661s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:07 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.128s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:07 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.744[m] 82.882[deg]	[grasp_sample.py: 539]
+05/13 20:30:07 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:07 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.708[m] 85.784[deg]	[grasp_sample.py: 539]
+05/13 20:30:08 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:30:08 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110450m	[env.py: 870]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24336295 -1.29106436 -0.11045002] yaw=-48.1deg	[env.py: 1019]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32755412 -1.01956291 -0.11045002] yaw=-75.7deg	[env.py: 1019]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50977297 -1.04902698 -0.11045002] yaw=-39.7deg	[env.py: 1019]
+05/13 20:30:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.4ms	[env.py: 1075]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.291, -0.110)	[env.py: 1079]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg	[env.py: 1082]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184124m	[env.py: 870]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.74693253 -0.70084252 -0.18412437] yaw=-97.3deg	[env.py: 1019]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.2ms, total=177.2ms	[env.py: 1075]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.747, -0.701, -0.184)	[env.py: 1079]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.3 deg	[env.py: 1082]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:10 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:10 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164786m	[env.py: 870]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.88314692 -0.67872915 -0.16478559] yaw=-93.1deg	[env.py: 1019]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3619974  -0.98442514 -0.16478559] yaw=-25.6deg	[env.py: 1019]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.3ms, total=126.3ms	[env.py: 1075]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.883, -0.679, -0.165)	[env.py: 1079]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.1 deg	[env.py: 1082]
+05/13 20:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:10 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.661[m] 84.959[deg]	[grasp_sample.py: 539]
+05/13 20:30:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:30:11 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.522s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:11 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:30:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:11 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 20:30:12 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.595s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:12 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157104m	[env.py: 870]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08814381 -1.40009328 -0.15710425] yaw=-40.1deg	[env.py: 1019]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.2ms	[env.py: 1075]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -1.400, -0.157)	[env.py: 1079]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg	[env.py: 1082]
+05/13 20:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:13 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152088m	[env.py: 870]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32933512 -1.06699523 -0.15208849] yaw=-41.7deg	[env.py: 1019]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.5ms, total=314.5ms	[env.py: 1075]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.067, -0.152)	[env.py: 1079]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg	[env.py: 1082]
+05/13 20:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:14 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:15 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:15 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.660[m] 75.512[deg]	[grasp_sample.py: 539]
+05/13 20:30:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:30:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:30:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:16 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 82.525[deg]	[grasp_sample.py: 539]
+05/13 20:30:16 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129189m	[env.py: 870]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.84945198 -0.73984967 -0.12918903] yaw=-98.2deg	[env.py: 1019]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms	[env.py: 1075]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.849, -0.740, -0.129)	[env.py: 1079]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.2 deg	[env.py: 1082]
+05/13 20:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:19 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:23 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:30:24 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:24 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.769[m] 103.980[deg]	[grasp_sample.py: 539]
+05/13 20:30:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:30:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:30:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:30:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:30:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:36 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:30:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:30:36 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 20:30:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:30:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:30:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:30:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.53s (batch: 4.08s, save: 4.45s)	[pipeline.py: 300]
+05/13 20:30:46 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.32s:
+  episode_total: mean=70.66s, total=70.66s, count=1, min=70661.2ms, max=70661.2ms
+  sensor_polling: mean=158.2ms, total=42.40s, count=268, min=135.5ms, max=315.7ms
+  save_trajectories: mean=4.45s, total=4.45s, count=1, min=4452.0ms, max=4452.0ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.5ms, max=4076.5ms
+  physics_step: mean=10.2ms, total=2.73s, count=268, min=7.8ms, max=16.3ms
+  task_sampling: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms
+  task_specific_sample: mean=314.8ms, total=314.8ms, count=1, min=314.8ms, max=314.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=242.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=29.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170620m	[env.py: 870]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05608782 -1.37955666 -0.17062036] yaw=-20.2deg	[env.py: 1019]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90498837 -0.6646555  -0.17062036] yaw=-59.6deg	[env.py: 1019]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=165.1ms, total=165.1ms	[env.py: 1075]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -1.380, -0.171)	[env.py: 1079]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.2 deg	[env.py: 1082]
+05/13 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:48 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 20:30:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:50 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.555s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:50 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103550m	[env.py: 870]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03438647 -1.35893548 -0.10354972] yaw=-11.1deg	[env.py: 1019]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33617193 -1.01957366 -0.10354972] yaw=-43.9deg	[env.py: 1019]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4707919  -0.83953496 -0.10354972] yaw=-59.4deg	[env.py: 1019]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.3ms, total=128.4ms	[env.py: 1075]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.034, -1.359, -0.104)	[env.py: 1079]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.1 deg	[env.py: 1082]
+05/13 20:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 20:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:53 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:30:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:30:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.073s, found 317 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:54 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:54 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:54 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.527s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:30:55 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:30:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:30:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:30:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 168 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:56 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 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114723m	[env.py: 870]
+05/13 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7482034  -0.91686788 -0.11472255] yaw=-96.3deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51399725 -0.87102484 -0.11472255] yaw=-76.4deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68185417 -0.71960937 -0.11472255] yaw=-47.0deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.1ms	[env.py: 1075]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.748, -0.917, -0.115)	[env.py: 1079]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.3 deg	[env.py: 1082]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:57 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 252 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:30:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:30:57 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 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155906m	[env.py: 870]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34788916 -1.07989304 -0.15590622] yaw=-71.2deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10613535 -1.26164772 -0.15590622] yaw=-42.8deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17043006 -1.04032786 -0.15590622] yaw=-50.4deg	[env.py: 1019]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.4ms, total=125.5ms	[env.py: 1075]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -1.080, -0.156)	[env.py: 1079]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg	[env.py: 1082]
+05/13 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:30:57 INFO: [Worker 0] Feasibility-checked 252 grasps in 0.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:57 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.625[m] 93.205[deg]	[grasp_sample.py: 539]
+05/13 20:30:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:30:57 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:30:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:30:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:30:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:58 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.646[m] 101.343[deg]	[grasp_sample.py: 539]
+05/13 20:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:30:59 INFO: [Worker 0] Feasibility-checked 168 grasps in 2.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:30:59 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.055[m] 4.945[deg]	[grasp_sample.py: 539]
+05/13 20:30:59 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:31:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:01 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 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168479m	[env.py: 870]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8306795  -0.84021189 -0.16847877] yaw=-99.4deg	[env.py: 1019]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54690923 -1.00761952 -0.16847877] yaw=-44.6deg	[env.py: 1019]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.70444345 -0.81501384 -0.16847877] yaw=-98.1deg	[env.py: 1019]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.2ms, total=255.2ms	[env.py: 1075]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.831, -0.840, -0.168)	[env.py: 1079]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.4 deg	[env.py: 1082]
+05/13 20:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:01 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.051s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:04 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:04 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.692[m] 89.963[deg]	[grasp_sample.py: 539]
+05/13 20:31:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:31:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:31:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:31:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:31:07 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 20:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:31:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:09 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:09 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.505[m] 70.355[deg]	[grasp_sample.py: 539]
+05/13 20:31:10 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:31:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:12 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 20:31:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159857m	[env.py: 870]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1105]
+05/13 20:31:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:31:12 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:14 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 20:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107288m	[env.py: 870]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26919558 -0.93697786 -0.10728838] yaw=-58.0deg	[env.py: 1019]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.9ms, total=124.9ms	[env.py: 1075]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -0.937, -0.107)	[env.py: 1079]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/13 20:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:31:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:31:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.89s (batch: 3.08s, save: 4.81s)	[pipeline.py: 300]
+05/13 20:31:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:15 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:15 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 20:31:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:15 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.22s:
+  episode_total: mean=15.01s, total=75.05s, count=5, min=299.1ms, max=66042.5ms
+  sensor_polling: mean=148.7ms, total=39.56s, count=266, min=133.8ms, max=372.6ms
+  save_trajectories: mean=4.81s, total=4.81s, count=1, min=4810.1ms, max=4810.1ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3076.7ms, max=3076.7ms
+  physics_step: mean=9.7ms, total=2.58s, count=266, min=7.6ms, max=14.0ms
+  task_specific_sample: mean=301.6ms, total=1.51s, count=5, min=268.3ms, max=343.9ms
+  task_sampling: mean=305.0ms, total=1.22s, count=4, min=270.4ms, max=345.6ms
+  task_sampling_failed: mean=299.1ms, total=299.1ms, count=1, min=299.1ms, max=299.1ms
+  scene_randomize: mean=918.1us, total=4.6ms, count=5, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=270.0us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.498s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:31:16 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:17 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 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155162m	[env.py: 870]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12641062 -1.38631493 -0.15516157] yaw=-5.9deg	[env.py: 1019]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08636102 -1.16962239 -0.15516157] yaw=-50.1deg	[env.py: 1019]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5062449  -1.00363567 -0.15516157] yaw=-36.0deg	[env.py: 1019]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.3ms, total=102.4ms	[env.py: 1075]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.386, -0.155)	[env.py: 1079]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -5.9 deg	[env.py: 1082]
+05/13 20:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:17 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:31:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124168m	[env.py: 870]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14949045 -1.26970612 -0.12416798] yaw=-34.5deg	[env.py: 1019]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.1452968  -1.06647806 -0.12416798] yaw=-12.9deg	[env.py: 1019]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.7005019  -0.79311442 -0.12416798] yaw=-95.9deg	[env.py: 1019]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.4ms, total=175.4ms	[env.py: 1075]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.270, -0.124)	[env.py: 1079]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg	[env.py: 1082]
+05/13 20:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:19 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:19 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:19 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.530[m] 63.058[deg]	[grasp_sample.py: 539]
+05/13 20:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:31:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:31:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:23 INFO: [Worker 0] Feasibility-checked 236 grasps in 4.019s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:23 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.670[m] 91.687[deg]	[grasp_sample.py: 539]
+05/13 20:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:23 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:31:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:31:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:31:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181753m	[env.py: 870]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0236054  -1.18382488 -0.18175299] yaw=-22.3deg	[env.py: 1019]
+05/13 20:31:26 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:26 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.528[m] 63.316[deg]	[grasp_sample.py: 539]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.0ms, total=138.0ms	[env.py: 1075]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.024, -1.184, -0.182)	[env.py: 1079]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.3 deg	[env.py: 1082]
+05/13 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:26 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:26 INFO: [Worker 0] Feasibility-checked 234 grasps in 8.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:26 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.639[m] 84.455[deg]	[grasp_sample.py: 539]
+05/13 20:31:26 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:31:27 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:31:27 INFO: [Worker 0] Feasibility-checked 237 grasps in 1.499s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:31:27 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:31:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:28 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 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162080m	[env.py: 870]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00612193 -1.21677643 -0.16207997] yaw=-54.4deg	[env.py: 1019]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83718858 -0.86958779 -0.16207997] yaw=-103.7deg	[env.py: 1019]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5526887  -0.79862563 -0.16207997] yaw=-94.7deg	[env.py: 1019]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.3ms	[env.py: 1075]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.006, -1.217, -0.162)	[env.py: 1079]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 20:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:28 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174584m	[env.py: 870]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61257335 -0.91859442 -0.17458436] yaw=-64.1deg	[env.py: 1019]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.9ms, total=131.9ms	[env.py: 1075]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.919, -0.175)	[env.py: 1079]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg	[env.py: 1082]
+05/13 20:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:29 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:30 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 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135488m	[env.py: 870]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.621[m] 82.842[deg]	[grasp_sample.py: 539]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2862108  -1.24625641 -0.13548803] yaw=-32.9deg	[env.py: 1019]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.7222149  -0.89100163 -0.13548803] yaw=-67.3deg	[env.py: 1019]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.4ms	[env.py: 1075]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.246, -0.135)	[env.py: 1079]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg	[env.py: 1082]
+05/13 20:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:30 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:31:30 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:31:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:31:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:31:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:31:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:31:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198034m	[env.py: 870]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:31:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.73620809 -0.76587965 -0.19803398] yaw=-86.0deg	[env.py: 1019]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22329614 -1.11059743 -0.19803398] yaw=-34.7deg	[env.py: 1019]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13904368 -1.43690295 -0.19803398] yaw=-19.5deg	[env.py: 1019]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.736, -0.766, -0.198)	[env.py: 1079]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.0 deg	[env.py: 1082]
+05/13 20:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 20:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:31:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:31:32 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:31:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:31:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:31:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:33 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.625[m] 83.973[deg]	[grasp_sample.py: 539]
+05/13 20:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:31:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:31:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:31:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.677[m] 87.998[deg]	[grasp_sample.py: 539]
+05/13 20:31:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:41 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:31:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:53 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:31:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:31:53 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 20:31:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:31:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:31:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:31:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:32:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:32:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:32:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.65s (batch: 3.06s, save: 4.59s)	[pipeline.py: 300]
+05/13 20:32:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:01 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=2.32s:
+  episode_total: mean=15.09s, total=120.76s, count=8, min=1764.4ms, max=64138.7ms
+  sensor_polling: mean=150.6ms, total=70.49s, count=468, min=132.4ms, max=364.2ms
+  save_trajectories: mean=4.59s, total=4.59s, count=1, min=4594.1ms, max=4594.1ms
+  physics_step: mean=9.6ms, total=4.51s, count=468, min=7.8ms, max=15.5ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3055.8ms, max=3055.8ms
+  task_sampling: mean=290.3ms, total=2.32s, count=8, min=224.5ms, max=389.2ms
+  task_specific_sample: mean=287.9ms, total=2.30s, count=8, min=222.0ms, max=386.3ms
+  scene_randomize: mean=1.0ms, total=8.2ms, count=8, min=0.9ms, max=1.3ms
+  mj_forward_sync: mean=294.1us, total=2.4ms, count=8, min=0.2ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.1ms, count=8, 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 20:32:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:03 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 20:32:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107736m	[env.py: 870]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=130.7ms, total=130.7ms	[env.py: 1105]
+05/13 20:32:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:32:03 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 20:32:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:05 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 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155276m	[env.py: 870]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21012172 -1.22566857 -0.15527585] yaw=-51.5deg	[env.py: 1019]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09910254 -1.34748052 -0.15527585] yaw=-11.3deg	[env.py: 1019]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1075]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.226, -0.155)	[env.py: 1079]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg	[env.py: 1082]
+05/13 20:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:05 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.296s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.685[m] 89.297[deg]	[grasp_sample.py: 539]
+05/13 20:32:08 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:10 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 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162395m	[env.py: 870]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22815871 -1.10678874 -0.16239467] yaw=-12.9deg	[env.py: 1019]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23081495 -1.27338448 -0.16239467] yaw=-37.0deg	[env.py: 1019]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3958076  -0.92809751 -0.16239467] yaw=-32.4deg	[env.py: 1019]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.2ms	[env.py: 1075]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -1.107, -0.162)	[env.py: 1079]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.9 deg	[env.py: 1082]
+05/13 20:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:10 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:12 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:12 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.753[m] 86.371[deg]	[grasp_sample.py: 539]
+05/13 20:32:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:32:12 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:32:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:32:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:32:20 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:32:23 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:32:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:32:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:32:23 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 20:32:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:32:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:32:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.17s (batch: 3.47s, save: 4.70s)	[pipeline.py: 300]
+05/13 20:32:32 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.54s:
+  episode_total: mean=36.75s, total=73.51s, count=2, min=9756.3ms, max=63751.5ms
+  sensor_polling: mean=148.0ms, total=38.04s, count=257, min=133.7ms, max=418.6ms
+  save_trajectories: mean=4.70s, total=4.70s, count=1, min=4704.0ms, max=4704.0ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3467.3ms, max=3467.3ms
+  physics_step: mean=9.6ms, total=2.46s, count=257, min=8.0ms, max=23.0ms
+  task_sampling: mean=271.8ms, total=543.5ms, count=2, min=263.0ms, max=280.5ms
+  task_specific_sample: mean=269.4ms, total=538.7ms, count=2, min=260.7ms, max=278.0ms
+  scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=236.2us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:32:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:32:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:32:33 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 20:32:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:34 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 20:32:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127745m	[env.py: 870]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31206361 -0.96598761 -0.12774528] yaw=-63.9deg	[env.py: 1019]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53122619 -0.77313246 -0.12774528] yaw=-44.9deg	[env.py: 1019]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.1ms	[env.py: 1075]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -0.966, -0.128)	[env.py: 1079]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg	[env.py: 1082]
+05/13 20:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:34 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:35 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 20:32:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:32:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:32:36 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 20:32:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.261s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:37 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.742[m] 87.221[deg]	[grasp_sample.py: 539]
+05/13 20:32:38 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168564m	[env.py: 870]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13596053 -1.19041234 -0.16856439] yaw=-39.6deg	[env.py: 1019]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.85325673 -0.83119067 -0.16856439] yaw=-97.6deg	[env.py: 1019]
+05/13 20:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/13 20:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.190, -0.169)	[env.py: 1079]
+05/13 20:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 20:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 20:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:40 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:32:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:32:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.23s (batch: 3.63s, save: 4.60s)	[pipeline.py: 300]
+05/13 20:32:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:41 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.715[m] 83.909[deg]	[grasp_sample.py: 539]
+05/13 20:32:42 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:42 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=2.18s:
+  episode_total: mean=12.31s, total=98.49s, count=8, min=131.0ms, max=72377.6ms
+  sensor_polling: mean=164.0ms, total=49.03s, count=299, min=140.5ms, max=399.5ms
+  save_trajectories: mean=4.60s, total=4.60s, count=1, min=4598.0ms, max=4598.0ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3631.3ms, max=3631.3ms
+  physics_step: mean=10.4ms, total=3.12s, count=299, min=7.8ms, max=16.7ms
+  task_specific_sample: mean=285.5ms, total=2.28s, count=8, min=127.0ms, max=360.9ms
+  task_sampling: mean=311.0ms, total=2.18s, count=7, min=275.0ms, max=363.8ms
+  task_sampling_failed: mean=131.0ms, total=131.0ms, count=1, min=131.0ms, max=131.0ms
+  scene_randomize: mean=1.1ms, total=9.2ms, count=8, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=262.3us, total=2.1ms, count=8, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.1us, total=0.1ms, 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 20:32:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:32:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:32:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.47s (batch: 2.89s, save: 4.57s)	[pipeline.py: 300]
+05/13 20:32:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:44 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 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134184m	[env.py: 870]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09666407 -1.11762986 -0.13418406] yaw=-47.6deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13123269 -1.07972731 -0.13418406] yaw=-19.2deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.68140671 -0.92997016 -0.13418406] yaw=-81.3deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.4ms	[env.py: 1075]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.118, -0.134)	[env.py: 1079]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:44 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152374m	[env.py: 870]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53296844 -0.84777149 -0.15237354] yaw=-90.5deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85498045 -0.6437754  -0.15237354] yaw=-102.0deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23311662 -1.22882585 -0.15237354] yaw=-61.9deg	[env.py: 1019]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.2ms, total=85.2ms	[env.py: 1075]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.533, -0.848, -0.152)	[env.py: 1079]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.5 deg	[env.py: 1082]
+05/13 20:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:44 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=2.40s:
+  episode_total: mean=21.09s, total=147.61s, count=7, min=1873.6ms, max=72641.8ms
+  sensor_polling: mean=161.3ms, total=78.23s, count=485, min=127.3ms, max=361.0ms
+  physics_step: mean=10.1ms, total=4.91s, count=485, min=7.8ms, max=16.9ms
+  save_trajectories: mean=4.57s, total=4.57s, count=1, min=4574.3ms, max=4574.3ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2893.5ms, max=2893.5ms
+  task_sampling: mean=343.1ms, total=2.40s, count=7, min=256.5ms, max=487.7ms
+  task_specific_sample: mean=340.1ms, total=2.38s, count=7, min=252.6ms, max=485.2ms
+  scene_randomize: mean=1.2ms, total=8.1ms, count=7, min=0.7ms, max=1.6ms
+  mj_forward_sync: mean=293.8us, total=2.1ms, count=7, min=0.2ms, max=0.4ms
+  policy_setup: mean=16.0us, 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 20:32:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:44 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.506s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:32:45 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:32:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:46 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 20:32:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:46 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 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155337m	[env.py: 870]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34606731 -1.15468566 -0.15533739] yaw=-21.3deg	[env.py: 1019]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.66559571 -0.68917985 -0.15533739] yaw=-77.1deg	[env.py: 1019]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1555219  -1.1888327  -0.15533739] yaw=-24.9deg	[env.py: 1019]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.155, -0.155)	[env.py: 1079]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.3 deg	[env.py: 1082]
+05/13 20:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:46 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:46 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 20:32:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:47 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:47 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.770[m] 90.175[deg]	[grasp_sample.py: 539]
+05/13 20:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:47 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 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138738m	[env.py: 870]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00767544 -1.21004886 -0.13873836] yaw=-7.5deg	[env.py: 1019]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.1ms	[env.py: 1075]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.008, -1.210, -0.139)	[env.py: 1079]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.5 deg	[env.py: 1082]
+05/13 20:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:47 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:47 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:49 INFO: [Worker 0] Feasibility-checked 225 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:32:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171369m	[env.py: 870]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:49 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:49 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.625[m] 84.813[deg]	[grasp_sample.py: 539]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64367464 -0.70976516 -0.17136927] yaw=-47.4deg	[env.py: 1019]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26618871 -1.18294323 -0.17136927] yaw=-31.6deg	[env.py: 1019]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms	[env.py: 1075]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.710, -0.171)	[env.py: 1079]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg	[env.py: 1082]
+05/13 20:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 20:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:50 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:50 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 20:32:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:50 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:51 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 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119417m	[env.py: 870]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14081205 -1.09435876 -0.11941708] yaw=-57.4deg	[env.py: 1019]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.7ms	[env.py: 1075]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.094, -0.119)	[env.py: 1079]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg	[env.py: 1082]
+05/13 20:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:51 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:51 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:32:51 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:32:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171347m	[env.py: 870]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.88467483 -0.74050988 -0.1713466 ] yaw=-88.2deg	[env.py: 1019]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.6ms	[env.py: 1075]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.885, -0.741, -0.171)	[env.py: 1079]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.2 deg	[env.py: 1082]
+05/13 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:52 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.436s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:32:53 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:32:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:53 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 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195169m	[env.py: 870]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22591732 -1.02684834 -0.19516862] yaw=-43.7deg	[env.py: 1019]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.2ms, total=124.2ms	[env.py: 1075]
+05/13 20:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.027, -0.195)	[env.py: 1079]
+05/13 20:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/13 20:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 20:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:54 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:55 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 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167904m	[env.py: 870]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48924655 -1.0507429  -0.16790424] yaw=-79.1deg	[env.py: 1019]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38182415 -1.11580606 -0.16790424] yaw=-53.4deg	[env.py: 1019]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.4ms, total=128.4ms	[env.py: 1075]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -1.051, -0.168)	[env.py: 1079]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.1 deg	[env.py: 1082]
+05/13 20:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:55 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.700[m] 77.320[deg]	[grasp_sample.py: 539]
+05/13 20:32:56 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:32:56 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.642[m] 100.518[deg]	[grasp_sample.py: 539]
+05/13 20:32:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:32:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:32:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:32:56 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:32:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:32:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:32:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:32:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:32:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:32:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164668m	[env.py: 870]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:32:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44715191 -1.0990233  -0.16466768] yaw=-57.3deg	[env.py: 1019]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59115889 -0.94924698 -0.16466768] yaw=-46.8deg	[env.py: 1019]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20609699 -1.31525592 -0.16466768] yaw=-9.3deg	[env.py: 1019]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.0ms	[env.py: 1075]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -1.099, -0.165)	[env.py: 1079]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg	[env.py: 1082]
+05/13 20:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 20:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:32:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:32:59 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:32:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:32:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:32:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:32:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:32:59 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:33:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:00 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.563[m] 87.715[deg]	[grasp_sample.py: 539]
+05/13 20:33:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:11 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:11 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.512[m] 73.210[deg]	[grasp_sample.py: 539]
+05/13 20:33:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 20.344s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:12 INFO: [Worker 0] Feasible grasp found 478 (originally 171): w/ 0.747[m] 106.689[deg]	[grasp_sample.py: 539]
+05/13 20:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:33:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:33:13 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/13 20:33:13 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:15 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 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105177m	[env.py: 870]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69088977 -0.78919313 -0.10517688] yaw=-92.1deg	[env.py: 1019]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58308973 -0.99844462 -0.10517688] yaw=-62.0deg	[env.py: 1019]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.7ms, total=143.7ms	[env.py: 1075]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.691, -0.789, -0.105)	[env.py: 1079]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.1 deg	[env.py: 1082]
+05/13 20:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:15 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:15 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 20:33:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:17 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:17 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.774[m] 84.765[deg]	[grasp_sample.py: 539]
+05/13 20:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:17 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148205m	[env.py: 870]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21242875 -1.36147466 -0.14820457] yaw=-27.8deg	[env.py: 1019]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1740201  -1.16207066 -0.14820457] yaw=-47.0deg	[env.py: 1019]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64747537 -0.72077127 -0.14820457] yaw=-56.6deg	[env.py: 1019]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.361, -0.148)	[env.py: 1079]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg	[env.py: 1082]
+05/13 20:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:19 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:20 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.512[m] 73.207[deg]	[grasp_sample.py: 539]
+05/13 20:33:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:33:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:33:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.74s (batch: 3.43s, save: 5.31s)	[pipeline.py: 300]
+05/13 20:33:22 INFO: [Worker 0] Feasibility-checked 237 grasps in 2.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:22 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.606[m] 84.200[deg]	[grasp_sample.py: 539]
+05/13 20:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:22 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:22 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.62s:
+  episode_total: mean=25.35s, total=76.05s, count=3, min=138.3ms, max=72667.9ms
+  sensor_polling: mean=149.9ms, total=43.16s, count=288, min=131.9ms, max=447.7ms
+  save_trajectories: mean=5.31s, total=5.31s, count=1, min=5308.9ms, max=5308.9ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3426.6ms, max=3426.6ms
+  physics_step: mean=9.6ms, total=2.78s, count=288, min=7.3ms, max=15.5ms
+  task_specific_sample: mean=251.3ms, total=754.0ms, count=3, min=134.4ms, max=313.1ms
+  task_sampling: mean=311.9ms, total=623.7ms, count=2, min=308.7ms, max=315.0ms
+  task_sampling_failed: mean=138.3ms, total=138.3ms, count=1, min=138.3ms, max=138.3ms
+  scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=244.5us, total=0.7ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159776m	[env.py: 870]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23665928 -1.33820954 -0.1597762 ] yaw=-15.8deg	[env.py: 1019]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146134m	[env.py: 870]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25091025 -1.31920759 -0.1597762 ] yaw=-38.2deg	[env.py: 1019]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62667602 -0.7996401  -0.1597762 ] yaw=-78.6deg	[env.py: 1019]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.8ms	[env.py: 1075]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.338, -0.160)	[env.py: 1079]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.8 deg	[env.py: 1082]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28753079 -1.09521709 -0.14613425] yaw=-39.7deg	[env.py: 1019]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09174176 -1.11265469 -0.14613425] yaw=-15.8deg	[env.py: 1019]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.5ms	[env.py: 1075]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.095, -0.146)	[env.py: 1079]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg	[env.py: 1082]
+05/13 20:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:24 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:24 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:27 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.674[m] 85.644[deg]	[grasp_sample.py: 539]
+05/13 20:33:27 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:27 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:27 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.587[m] 84.463[deg]	[grasp_sample.py: 539]
+05/13 20:33:28 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128433m	[env.py: 870]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.80244099 -0.83354591 -0.12843317] yaw=-106.2deg	[env.py: 1019]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.3ms, total=188.3ms	[env.py: 1075]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.802, -0.834, -0.128)	[env.py: 1079]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.2 deg	[env.py: 1082]
+05/13 20:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:29 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:29 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.512[m] 73.207[deg]	[grasp_sample.py: 539]
+05/13 20:33:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:29 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158489m	[env.py: 870]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15765412 -1.37526039 -0.15848873] yaw=-15.8deg	[env.py: 1019]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31353055 -0.86453123 -0.15848873] yaw=-68.0deg	[env.py: 1019]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.3ms	[env.py: 1075]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.375, -0.158)	[env.py: 1079]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.8 deg	[env.py: 1082]
+05/13 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:30 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.776[m] 89.992[deg]	[grasp_sample.py: 539]
+05/13 20:33:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.635[m] 84.849[deg]	[grasp_sample.py: 539]
+05/13 20:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:34 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:33:35 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:33:35 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=1.65s:
+  episode_total: mean=8.60s, total=51.63s, count=6, min=1798.3ms, max=40158.1ms
+  sensor_polling: mean=150.8ms, total=10.86s, count=72, min=133.1ms, max=242.2ms
+  task_sampling: mean=275.1ms, total=1.65s, count=6, min=232.6ms, max=302.8ms
+  task_specific_sample: mean=272.8ms, total=1.64s, count=6, min=230.9ms, max=300.4ms
+  physics_step: mean=8.5ms, total=610.2ms, count=72, min=6.3ms, max=13.8ms
+  scene_randomize: mean=977.3us, total=5.9ms, count=6, min=0.7ms, max=1.4ms
+  mj_forward_sync: mean=265.6us, total=1.6ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.9us, 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 20:33:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144916m	[env.py: 870]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.87322151 -0.860574   -0.1449161 ] yaw=-110.8deg	[env.py: 1019]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2202774  -1.26885279 -0.1449161 ] yaw=-19.5deg	[env.py: 1019]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.7ms, total=136.7ms	[env.py: 1075]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.873, -0.861, -0.145)	[env.py: 1079]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.8 deg	[env.py: 1082]
+05/13 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/13 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:36 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:37 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 20:33:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177256m	[env.py: 870]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03097137 -1.13692802 -0.1772561 ] yaw=-7.2deg	[env.py: 1019]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.8ms	[env.py: 1075]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.031, -1.137, -0.177)	[env.py: 1079]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.2 deg	[env.py: 1082]
+05/13 20:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:37 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:37 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 20:33:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:39 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.510s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:33:39 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:40 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:40 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.673[m] 101.780[deg]	[grasp_sample.py: 539]
+05/13 20:33:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131539m	[env.py: 870]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.70593816 -0.77972916 -0.13153892] yaw=-87.6deg	[env.py: 1019]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37079577 -1.064607   -0.13153892] yaw=-76.7deg	[env.py: 1019]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.706, -0.780, -0.132)	[env.py: 1079]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.6 deg	[env.py: 1082]
+05/13 20:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:41 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:41 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:41 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.734[m] 103.123[deg]	[grasp_sample.py: 539]
+05/13 20:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:42 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:43 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:43 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 20:33:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111623m	[env.py: 870]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3900721  -1.01870911 -0.11162327] yaw=-24.1deg	[env.py: 1019]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.7ms	[env.py: 1075]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -1.019, -0.112)	[env.py: 1079]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.1 deg	[env.py: 1082]
+05/13 20:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:44 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:44 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.957s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:44 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.608[m] 65.041[deg]	[grasp_sample.py: 539]
+05/13 20:33:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:45 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:45 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.735[m] 78.969[deg]	[grasp_sample.py: 539]
+05/13 20:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:46 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169200m	[env.py: 870]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23190501 -0.97813169 -0.16920048] yaw=-60.7deg	[env.py: 1019]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.2ms, total=120.2ms	[env.py: 1075]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.978, -0.169)	[env.py: 1079]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg	[env.py: 1082]
+05/13 20:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:48 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:48 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 20:33:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.488s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:33:49 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:51 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:51 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.608[m] 65.041[deg]	[grasp_sample.py: 539]
+05/13 20:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152428m	[env.py: 870]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58895502 -0.75252904 -0.15242825] yaw=-82.6deg	[env.py: 1019]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54909586 -1.02555381 -0.15242825] yaw=-49.3deg	[env.py: 1019]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.7ms, total=249.7ms	[env.py: 1075]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.753, -0.152)	[env.py: 1079]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.6 deg	[env.py: 1082]
+05/13 20:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:52 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:54 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.915s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:54 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.554[m] 79.316[deg]	[grasp_sample.py: 539]
+05/13 20:33:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:55 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:33:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:33:55 INFO: [Worker 0] Preparing episode data: 247 timesteps	[save_utils.py: 278]
+05/13 20:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:55 INFO: [Worker 0] Feasibility-checked 246 grasps in 3.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:55 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 20:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:57 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:57 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.608[m] 65.041[deg]	[grasp_sample.py: 539]
+05/13 20:33:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:33:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:33:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:33:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:33:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141024m	[env.py: 870]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1850485  -1.30867974 -0.14102354] yaw=-34.6deg	[env.py: 1019]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27951713 -1.02070555 -0.14102354] yaw=-43.4deg	[env.py: 1019]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23618594 -1.12207853 -0.14102354] yaw=-38.8deg	[env.py: 1019]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms	[env.py: 1075]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.309, -0.141)	[env.py: 1079]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg	[env.py: 1082]
+05/13 20:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:33:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:33:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:33:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:33:57 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:33:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:58 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:33:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.665[m] 74.808[deg]	[grasp_sample.py: 539]
+05/13 20:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:59 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:33:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:33:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:33:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190138m	[env.py: 870]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51806745 -0.79427607 -0.19013819] yaw=-79.0deg	[env.py: 1019]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40829216 -0.78169012 -0.19013819] yaw=-80.8deg	[env.py: 1019]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.6ms, total=174.6ms	[env.py: 1075]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.794, -0.190)	[env.py: 1079]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.0 deg	[env.py: 1082]
+05/13 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:00 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:34:03 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:03 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.551[m] 78.609[deg]	[grasp_sample.py: 539]
+05/13 20:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:03 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:34:03 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=0.58s:
+  episode_total: mean=18.44s, total=36.89s, count=2, min=3135.0ms, max=33751.1ms
+  sensor_polling: mean=150.6ms, total=11.60s, count=77, min=135.6ms, max=224.0ms
+  physics_step: mean=8.8ms, total=676.8ms, count=77, min=6.2ms, max=19.6ms
+  task_sampling: mean=289.1ms, total=578.1ms, count=2, min=277.0ms, max=301.2ms
+  task_specific_sample: mean=286.0ms, total=572.1ms, count=2, min=273.6ms, max=298.5ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.0ms, max=2.1ms
+  mj_forward_sync: mean=324.0us, total=0.6ms, count=2, min=0.2ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:34:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:34:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.28s (batch: 3.76s, save: 4.52s)	[pipeline.py: 300]
+05/13 20:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:04 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.11s:
+  episode_total: mean=18.43s, total=73.70s, count=4, min=1894.2ms, max=65698.8ms
+  sensor_polling: mean=152.8ms, total=37.58s, count=246, min=141.6ms, max=228.4ms
+  save_trajectories: mean=4.52s, total=4.52s, count=1, min=4519.4ms, max=4519.4ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.1ms, max=3757.1ms
+  physics_step: mean=9.9ms, total=2.44s, count=246, min=7.8ms, max=15.8ms
+  task_sampling: mean=278.2ms, total=1.11s, count=4, min=245.1ms, max=310.2ms
+  task_specific_sample: mean=275.5ms, total=1.10s, count=4, min=242.3ms, max=307.9ms
+  scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=241.6us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.1us, 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 20:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:05 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.737[m] 96.701[deg]	[grasp_sample.py: 539]
+05/13 20:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:05 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:06 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 20:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137089m	[env.py: 870]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08594898 -1.09633445 -0.13708855] yaw=-55.3deg	[env.py: 1019]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=91.9ms, total=91.9ms	[env.py: 1075]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.096, -0.137)	[env.py: 1079]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg	[env.py: 1082]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:06 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:06 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 20:34:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:06 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 20:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137243m	[env.py: 870]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36427575 -1.16877477 -0.13724268] yaw=-19.6deg	[env.py: 1019]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00757951 -1.30106057 -0.13724268] yaw=-22.7deg	[env.py: 1019]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.0ms, total=138.0ms	[env.py: 1075]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.169, -0.137)	[env.py: 1079]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.6 deg	[env.py: 1082]
+05/13 20:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:06 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:34:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140621m	[env.py: 870]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38447617 -0.85495172 -0.14062088] yaw=-70.5deg	[env.py: 1019]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0783849  -1.25924476 -0.14062088] yaw=-21.6deg	[env.py: 1019]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms	[env.py: 1075]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.855, -0.141)	[env.py: 1079]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg	[env.py: 1082]
+05/13 20:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:07 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.480s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:34:07 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:34:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:09 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.573s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:34:09 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:10 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 20:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184057m	[env.py: 870]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56130854 -0.8899822  -0.18405677] yaw=-74.3deg	[env.py: 1019]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04836601 -1.14578193 -0.18405677] yaw=-39.4deg	[env.py: 1019]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=88.9ms, total=89.0ms	[env.py: 1075]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.890, -0.184)	[env.py: 1079]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.3 deg	[env.py: 1082]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:10 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:10 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:10 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.626[m] 85.305[deg]	[grasp_sample.py: 539]
+05/13 20:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:10 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 20:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:10 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 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130630m	[env.py: 870]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38486238 -1.06849067 -0.13062972] yaw=-75.1deg	[env.py: 1019]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -1.068, -0.131)	[env.py: 1079]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg	[env.py: 1082]
+05/13 20:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:11 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:11 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 20:34:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:11 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:34:11 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.151s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:11 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.551[m] 78.609[deg]	[grasp_sample.py: 539]
+05/13 20:34:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:12 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.724[m] 91.601[deg]	[grasp_sample.py: 539]
+05/13 20:34:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:13 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 20:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:13 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 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114849m	[env.py: 870]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48899751 -0.91324832 -0.11484917] yaw=-75.9deg	[env.py: 1019]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77121999 -0.84072798 -0.11484917] yaw=-87.0deg	[env.py: 1019]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19386312 -1.07165088 -0.11484917] yaw=-12.7deg	[env.py: 1019]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=394.4ms, total=394.4ms	[env.py: 1075]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.913, -0.115)	[env.py: 1079]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg	[env.py: 1082]
+05/13 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:14 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:14 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 20:34:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:14 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.738[m] 91.189[deg]	[grasp_sample.py: 539]
+05/13 20:34:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:15 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.657[m] 100.801[deg]	[grasp_sample.py: 539]
+05/13 20:34:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:34:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:34:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:34:17 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:34:17 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=2.12s:
+  episode_total: mean=11.51s, total=80.56s, count=7, min=2612.0ms, max=41419.0ms
+  sensor_polling: mean=151.2ms, total=10.59s, count=70, min=132.6ms, max=228.5ms
+  task_sampling: mean=303.5ms, total=2.12s, count=7, min=243.0ms, max=447.4ms
+  task_specific_sample: mean=300.9ms, total=2.11s, count=7, min=240.5ms, max=444.8ms
+  physics_step: mean=8.7ms, total=610.5ms, count=70, min=6.2ms, max=13.6ms
+  scene_randomize: mean=1.2ms, total=8.5ms, count=7, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=285.0us, total=2.0ms, count=7, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.7us, 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 20:34:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:34:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:34:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:34:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:34:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:34:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187079m	[env.py: 870]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:34:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21238432 -1.26702099 -0.1870788 ] yaw=-27.1deg	[env.py: 1019]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:34:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.267, -0.187)	[env.py: 1079]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.1 deg	[env.py: 1082]
+05/13 20:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:34:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:34:19 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:34:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:20 INFO: [Worker 0] Feasibility-checked 237 grasps in 1.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.583[m] 78.518[deg]	[grasp_sample.py: 539]
+05/13 20:34:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:34:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:41 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.138[m] 13.213[deg]	[grasp_sample.py: 539]
+05/13 20:34:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:34:46 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 20:34:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:47 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:47 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.138[m] 13.210[deg]	[grasp_sample.py: 539]
+05/13 20:34:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:34:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:34:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:34:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:34:53 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:34:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.138[m] 13.210[deg]	[grasp_sample.py: 539]
+05/13 20:34:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:34:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:34:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:34:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:34:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:34:58 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:34:58 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=0.86s:
+  episode_total: mean=24.86s, total=49.72s, count=2, min=4645.2ms, max=45069.9ms
+  sensor_polling: mean=151.6ms, total=23.50s, count=155, min=137.8ms, max=343.7ms
+  physics_step: mean=8.8ms, total=1.37s, count=155, min=6.5ms, max=13.1ms
+  task_sampling: mean=429.4ms, total=858.8ms, count=2, min=300.5ms, max=558.3ms
+  task_specific_sample: mean=426.3ms, total=852.5ms, count=2, min=297.8ms, max=554.7ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=279.9us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.2us, 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 20:34:59 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128587m	[env.py: 870]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4335049  -1.0555903  -0.12858749] yaw=-34.5deg	[env.py: 1019]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.0ms, total=200.0ms	[env.py: 1075]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.056, -0.129)	[env.py: 1079]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg	[env.py: 1082]
+05/13 20:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 20:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:01 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:02 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:35:02 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:35:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.622[m] 79.396[deg]	[grasp_sample.py: 539]
+05/13 20:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:35:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:35:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:03 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 20:35:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:35:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:35:11 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 20:35:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:35:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:35:14 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 20:35:15 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:35:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:35:15 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 20:35:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:35:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:35:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.85s (batch: 3.10s, save: 4.75s)	[pipeline.py: 300]
+05/13 20:35:20 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=2.62s:
+  episode_total: mean=9.98s, total=89.82s, count=9, min=1428.3ms, max=69170.3ms
+  sensor_polling: mean=152.2ms, total=41.86s, count=275, min=138.1ms, max=419.2ms
+  save_trajectories: mean=4.75s, total=4.75s, count=1, min=4748.9ms, max=4748.9ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3103.5ms, max=3103.5ms
+  physics_step: mean=9.9ms, total=2.72s, count=275, min=7.6ms, max=29.1ms
+  task_sampling: mean=291.2ms, total=2.62s, count=9, min=260.0ms, max=388.5ms
+  task_specific_sample: mean=289.1ms, total=2.60s, count=9, min=258.1ms, max=386.1ms
+  scene_randomize: mean=897.3us, total=8.1ms, count=9, min=0.7ms, max=1.3ms
+  mj_forward_sync: mean=265.7us, total=2.4ms, count=9, min=0.2ms, max=0.4ms
+  policy_setup: mean=13.3us, total=0.1ms, count=9, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:35:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184392m	[env.py: 870]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39391772 -0.98145821 -0.1843916 ] yaw=-62.0deg	[env.py: 1019]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=135.1ms, total=135.2ms	[env.py: 1075]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.981, -0.184)	[env.py: 1079]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg	[env.py: 1082]
+05/13 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:21 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:35:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:35:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.96s (batch: 3.24s, save: 4.72s)	[pipeline.py: 300]
+05/13 20:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:35:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:35:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.52s (batch: 3.09s, save: 4.43s)	[pipeline.py: 300]
+05/13 20:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:23 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.31s:
+  episode_total: mean=64.30s, total=64.30s, count=1, min=64297.7ms, max=64297.7ms
+  sensor_polling: mean=150.1ms, total=37.98s, count=253, min=133.6ms, max=324.3ms
+  save_trajectories: mean=4.72s, total=4.72s, count=1, min=4717.1ms, max=4717.1ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3243.2ms, max=3243.2ms
+  physics_step: mean=9.6ms, total=2.44s, count=253, min=7.3ms, max=14.1ms
+  task_sampling: mean=306.8ms, total=306.8ms, count=1, min=306.8ms, max=306.8ms
+  task_specific_sample: mean=304.7ms, total=304.7ms, count=1, min=304.7ms, max=304.7ms
+  scene_randomize: mean=860.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=279.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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 20:35:23 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.49s:
+  episode_total: mean=37.60s, total=75.20s, count=2, min=1880.9ms, max=73323.2ms
+  sensor_polling: mean=156.8ms, total=41.86s, count=267, min=135.5ms, max=398.5ms
+  save_trajectories: mean=4.43s, total=4.43s, count=1, min=4431.5ms, max=4431.5ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3092.9ms, max=3092.9ms
+  physics_step: mean=10.0ms, total=2.66s, count=267, min=7.6ms, max=16.7ms
+  task_sampling: mean=246.3ms, total=492.6ms, count=2, min=214.2ms, max=278.3ms
+  task_specific_sample: mean=242.0ms, total=483.9ms, count=2, min=210.4ms, max=273.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.2ms, max=3.0ms
+  mj_forward_sync: mean=271.0us, total=0.5ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:35:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:24 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.626[m] 95.533[deg]	[grasp_sample.py: 539]
+05/13 20:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:35:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:35:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:25 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 20:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:25 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 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167627m	[env.py: 870]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:25 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 20:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147154m	[env.py: 870]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09750133 -1.29560718 -0.16762679] yaw=-10.1deg	[env.py: 1019]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66839884 -0.8179512  -0.14715369] yaw=-88.3deg	[env.py: 1019]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=369.9ms, total=369.9ms	[env.py: 1075]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.296, -0.168)	[env.py: 1079]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.1 deg	[env.py: 1082]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.668, -0.818, -0.147)	[env.py: 1079]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.3 deg	[env.py: 1082]
+05/13 20:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:25 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:25 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:35:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.726[m] 96.921[deg]	[grasp_sample.py: 539]
+05/13 20:35:27 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:27 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.681[m] 83.483[deg]	[grasp_sample.py: 539]
+05/13 20:35:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:27 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115850m	[env.py: 870]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.75486923 -0.90409467 -0.11585013] yaw=-58.9deg	[env.py: 1019]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35579827 -0.82818365 -0.11585013] yaw=-62.6deg	[env.py: 1019]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6366636  -0.71964587 -0.11585013] yaw=-98.1deg	[env.py: 1019]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.7ms	[env.py: 1075]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.755, -0.904, -0.116)	[env.py: 1079]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg	[env.py: 1082]
+05/13 20:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:29 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123257m	[env.py: 870]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.72174844 -0.9379428  -0.12325697] yaw=-76.7deg	[env.py: 1019]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22864172 -1.18932316 -0.12325697] yaw=-10.5deg	[env.py: 1019]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.722, -0.938, -0.123)	[env.py: 1079]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg	[env.py: 1082]
+05/13 20:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:30 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:35:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.062s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.664[m] 90.512[deg]	[grasp_sample.py: 539]
+05/13 20:35:31 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147087m	[env.py: 870]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.604[m] 91.569[deg]	[grasp_sample.py: 539]
+05/13 20:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.7ms, total=173.7ms	[env.py: 1105]
+05/13 20:35:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:35:33 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:35:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:35:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184995m	[env.py: 870]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86882042 -0.65685939 -0.18499464] yaw=-81.1deg	[env.py: 1019]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.2ms, total=195.2ms	[env.py: 1075]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.869, -0.657, -0.185)	[env.py: 1079]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 20:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:35 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:35 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 20:35:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.517s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:35:37 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:35:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:35:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:35:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:35:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:35:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:35:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174499m	[env.py: 870]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:35:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21981954 -1.15047963 -0.17449906] yaw=-65.6deg	[env.py: 1019]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.662091   -0.71604341 -0.17449906] yaw=-60.3deg	[env.py: 1019]
+05/13 20:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:35:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.7ms, total=256.7ms	[env.py: 1075]
+05/13 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.150, -0.174)	[env.py: 1079]
+05/13 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg	[env.py: 1082]
+05/13 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:35:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:35:39 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:35:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:35:39 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 20:35:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:35:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:35:39 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:35:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.729[m] 104.318[deg]	[grasp_sample.py: 539]
+05/13 20:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:35:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:35:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:35:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:35:47 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:35:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:35:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:35:59 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:35:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:35:59 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 20:36:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:36:06 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:36:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:36:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:36:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 11.53s (batch: 4.79s, save: 6.73s)	[pipeline.py: 300]
+05/13 20:36:12 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.36s:
+  episode_total: mean=71.55s, total=71.55s, count=1, min=71547.5ms, max=71547.5ms
+  sensor_polling: mean=156.8ms, total=40.76s, count=260, min=136.7ms, max=348.9ms
+  save_trajectories: mean=6.73s, total=6.73s, count=1, min=6733.3ms, max=6733.3ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4794.3ms, max=4794.3ms
+  physics_step: mean=10.0ms, total=2.59s, count=260, min=8.0ms, max=42.1ms
+  task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms
+  task_specific_sample: mean=357.4ms, total=357.4ms, count=1, min=357.4ms, max=357.4ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=338.2us, 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 20:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195842m	[env.py: 870]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08568731 -1.15429957 -0.19584203] yaw=-27.5deg	[env.py: 1019]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=270.2ms, total=270.3ms	[env.py: 1075]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.154, -0.196)	[env.py: 1079]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.5 deg	[env.py: 1082]
+05/13 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:15 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:15 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 20:36:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:16 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:36:17 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.529s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:36:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:36:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:36:17 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 20:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:19 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 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179144m	[env.py: 870]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.69078634 -0.93364633 -0.17914359] yaw=-54.8deg	[env.py: 1019]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24056315 -1.09187698 -0.17914359] yaw=-16.5deg	[env.py: 1019]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=344.0ms, total=344.0ms	[env.py: 1075]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.691, -0.934, -0.179)	[env.py: 1079]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg	[env.py: 1082]
+05/13 20:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:19 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:21 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.591[m] 80.278[deg]	[grasp_sample.py: 539]
+05/13 20:36:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:36:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:36:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:36:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:36:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:36:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.38s (batch: 2.85s, save: 4.53s)	[pipeline.py: 300]
+05/13 20:36:25 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:36:25 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.29s:
+  episode_total: mean=64.43s, total=64.43s, count=1, min=64426.2ms, max=64426.2ms
+  sensor_polling: mean=149.3ms, total=38.21s, count=256, min=133.8ms, max=389.1ms
+  save_trajectories: mean=4.53s, total=4.53s, count=1, min=4533.2ms, max=4533.2ms
+  save_batch_prep: mean=2.85s, total=2.85s, count=1, min=2847.0ms, max=2847.0ms
+  physics_step: mean=9.8ms, total=2.52s, count=256, min=7.3ms, max=18.8ms
+  task_sampling: mean=291.8ms, total=291.8ms, count=1, min=291.8ms, max=291.8ms
+  task_specific_sample: mean=289.5ms, total=289.5ms, count=1, min=289.5ms, max=289.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=234.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.3us, 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 20:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162832m	[env.py: 870]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10290947 -1.19013323 -0.1628319 ] yaw=-58.4deg	[env.py: 1019]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.8ms	[env.py: 1075]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -1.190, -0.163)	[env.py: 1079]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 20:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:28 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:28 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:36:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:36:28 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 20:36:29 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.503s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:36:29 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:36:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:31 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 20:36:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:31 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 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157651m	[env.py: 870]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52583977 -0.96791605 -0.15765057] yaw=-46.2deg	[env.py: 1019]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16974282 -1.36845064 -0.15765057] yaw=-6.3deg	[env.py: 1019]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms	[env.py: 1075]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -0.968, -0.158)	[env.py: 1079]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg	[env.py: 1082]
+05/13 20:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:31 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:31 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 20:36:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.876s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:32 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.630[m] 88.730[deg]	[grasp_sample.py: 539]
+05/13 20:36:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:36:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:36:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:36:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:36:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.57s (batch: 2.95s, save: 4.62s)	[pipeline.py: 300]
+05/13 20:36:36 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.82s:
+  episode_total: mean=34.85s, total=69.70s, count=2, min=3002.5ms, max=66699.8ms
+  sensor_polling: mean=152.3ms, total=39.00s, count=256, min=134.8ms, max=393.6ms
+  save_trajectories: mean=4.62s, total=4.62s, count=1, min=4621.7ms, max=4621.7ms
+  save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2950.6ms, max=2950.6ms
+  physics_step: mean=9.7ms, total=2.48s, count=256, min=7.8ms, max=13.1ms
+  task_sampling: mean=410.9ms, total=821.8ms, count=2, min=271.4ms, max=550.4ms
+  task_specific_sample: mean=408.3ms, total=816.7ms, count=2, min=269.1ms, max=547.6ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.8ms, max=1.8ms
+  mj_forward_sync: mean=252.0us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=22.9us, 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 20:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:38 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 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101474m	[env.py: 870]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50246192 -1.04346572 -0.10147438] yaw=-36.4deg	[env.py: 1019]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5625816  -0.95037919 -0.10147438] yaw=-85.8deg	[env.py: 1019]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=387.4ms, total=387.4ms	[env.py: 1075]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -1.043, -0.101)	[env.py: 1079]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg	[env.py: 1082]
+05/13 20:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:38 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:36:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:36:39 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 20:36:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.433s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.622[m] 77.093[deg]	[grasp_sample.py: 539]
+05/13 20:36:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:36:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:36:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:36:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:36:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:36:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:36:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.88s (batch: 3.21s, save: 4.67s)	[pipeline.py: 300]
+05/13 20:36:48 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.46s:
+  episode_total: mean=15.23s, total=76.17s, count=5, min=190.1ms, max=69614.8ms
+  sensor_polling: mean=152.6ms, total=41.98s, count=275, min=138.8ms, max=344.6ms
+  save_trajectories: mean=4.67s, total=4.67s, count=1, min=4668.8ms, max=4668.8ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3214.4ms, max=3214.4ms
+  physics_step: mean=9.8ms, total=2.69s, count=275, min=7.9ms, max=15.6ms
+  task_specific_sample: mean=325.4ms, total=1.63s, count=5, min=177.4ms, max=394.0ms
+  task_sampling: mean=364.6ms, total=1.46s, count=4, min=335.1ms, max=395.9ms
+  task_sampling_failed: mean=190.1ms, total=190.1ms, count=1, min=190.1ms, max=190.1ms
+  scene_randomize: mean=1.1ms, total=5.3ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=274.2us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:50 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 20:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:50 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 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155496m	[env.py: 870]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.8ms, total=217.9ms	[env.py: 1105]
+05/13 20:36:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:36:50 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 20:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:36:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:36:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140118m	[env.py: 870]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43547042 -1.03508482 -0.14011806] yaw=-67.4deg	[env.py: 1019]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4486057  -1.05273973 -0.14011806] yaw=-62.6deg	[env.py: 1019]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41228841 -1.08691066 -0.14011806] yaw=-40.7deg	[env.py: 1019]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.3ms, total=80.3ms	[env.py: 1075]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.035, -0.140)	[env.py: 1079]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg	[env.py: 1082]
+05/13 20:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:36:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:36:52 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:36:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:36:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:36:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.653[m] 88.663[deg]	[grasp_sample.py: 539]
+05/13 20:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:36:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:36:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:36:54 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 20:36:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:36:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:37:04 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:37:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:16 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:37:17 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:37:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:37:17 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 20:37:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:37:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:23 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:37:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:37:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.54s (batch: 3.85s, save: 4.69s)	[pipeline.py: 300]
+05/13 20:37:26 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.95s:
+  episode_total: mean=34.64s, total=69.29s, count=2, min=2100.3ms, max=67185.9ms
+  sensor_polling: mean=153.0ms, total=38.86s, count=254, min=134.9ms, max=353.6ms
+  save_trajectories: mean=4.69s, total=4.69s, count=1, min=4687.6ms, max=4687.6ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.2ms, max=3850.2ms
+  physics_step: mean=9.8ms, total=2.48s, count=254, min=7.8ms, max=19.9ms
+  task_sampling: mean=477.2ms, total=954.4ms, count=2, min=457.8ms, max=496.5ms
+  task_specific_sample: mean=474.0ms, total=948.0ms, count=2, min=454.2ms, max=493.8ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.0ms, max=2.1ms
+  mj_forward_sync: mean=342.3us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:37:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:37:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:37:28 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 20:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:28 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 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177615m	[env.py: 870]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=110.0ms, total=110.0ms	[env.py: 1105]
+05/13 20:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:37:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:31 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 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193947m	[env.py: 870]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=135.8ms, total=135.8ms	[env.py: 1105]
+05/13 20:37:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:37:31 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:33 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 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178216m	[env.py: 870]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06888408 -1.12978793 -0.17821615] yaw=-34.2deg	[env.py: 1019]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28437482 -1.24176495 -0.17821615] yaw=-62.0deg	[env.py: 1019]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05810929 -1.3435643  -0.17821615] yaw=-28.5deg	[env.py: 1019]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.8ms, total=115.9ms	[env.py: 1075]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -1.130, -0.178)	[env.py: 1079]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg	[env.py: 1082]
+05/13 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:33 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:34 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:37:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:37:34 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 20:37:35 INFO: [Worker 0] Feasibility-checked 241 grasps in 1.591s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:37:35 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:37:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:37:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:37:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.49s (batch: 2.94s, save: 4.55s)	[pipeline.py: 300]
+05/13 20:37:36 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.69s:
+  episode_total: mean=33.62s, total=67.24s, count=2, min=2028.7ms, max=65216.0ms
+  sensor_polling: mean=148.7ms, total=39.11s, count=263, min=131.7ms, max=397.6ms
+  save_trajectories: mean=4.55s, total=4.55s, count=1, min=4546.8ms, max=4546.8ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2939.4ms, max=2939.4ms
+  physics_step: mean=9.8ms, total=2.58s, count=263, min=7.3ms, max=16.0ms
+  task_sampling: mean=344.4ms, total=688.7ms, count=2, min=270.4ms, max=418.3ms
+  task_specific_sample: mean=341.9ms, total=683.7ms, count=2, min=268.3ms, max=415.4ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.7ms, max=1.8ms
+  mj_forward_sync: mean=271.8us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  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 20:37:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:37 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 20:37:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140283m	[env.py: 870]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:37 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 20:37:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146465m	[env.py: 870]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01316236 -1.37658853 -0.14028274] yaw=-26.0deg	[env.py: 1019]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=128.4ms, total=128.4ms	[env.py: 1075]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.013, -1.377, -0.140)	[env.py: 1079]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.0 deg	[env.py: 1082]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.81949156 -0.73967052 -0.14646537] yaw=-111.1deg	[env.py: 1019]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11297023 -1.26508036 -0.14646537] yaw=-46.0deg	[env.py: 1019]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:38 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.79544557 -0.77757414 -0.14646537] yaw=-58.8deg	[env.py: 1019]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms	[env.py: 1075]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.819, -0.740, -0.146)	[env.py: 1079]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.1 deg	[env.py: 1082]
+05/13 20:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/13 20:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:38 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:38 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:37:39 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:39 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.766[m] 83.079[deg]	[grasp_sample.py: 539]
+05/13 20:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:37:39 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.509s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:41 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 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180390m	[env.py: 870]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70131223 -0.71798958 -0.18038999] yaw=-92.5deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72896    -0.76097125 -0.18038999] yaw=-64.4deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23047005 -1.3225229  -0.18038999] yaw=-45.5deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.6ms	[env.py: 1075]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.701, -0.718, -0.180)	[env.py: 1079]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.5 deg	[env.py: 1082]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:41 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:41 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 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180036m	[env.py: 870]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71799607 -0.80939703 -0.18003573] yaw=-62.3deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5874044  -0.98618308 -0.18003573] yaw=-82.5deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16032401 -1.20601218 -0.18003573] yaw=-43.3deg	[env.py: 1019]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.0ms, total=109.1ms	[env.py: 1075]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.809, -0.180)	[env.py: 1079]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg	[env.py: 1082]
+05/13 20:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:41 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:37:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:37:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.86s (batch: 2.89s, save: 4.97s)	[pipeline.py: 300]
+05/13 20:37:43 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.55s:
+  episode_total: mean=64.86s, total=64.86s, count=1, min=64861.2ms, max=64861.2ms
+  sensor_polling: mean=151.4ms, total=39.36s, count=260, min=135.0ms, max=437.9ms
+  save_trajectories: mean=4.97s, total=4.97s, count=1, min=4969.8ms, max=4969.8ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2894.7ms, max=2894.7ms
+  physics_step: mean=9.7ms, total=2.53s, count=260, min=7.5ms, max=13.7ms
+  task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
+  task_specific_sample: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=250.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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 20:37:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151993m	[env.py: 870]
+05/13 20:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=359.8ms, total=359.8ms	[env.py: 1105]
+05/13 20:37:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:37:45 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:37:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:45 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.696[m] 92.532[deg]	[grasp_sample.py: 539]
+05/13 20:37:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:37:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:37:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:37:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:37:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:37:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116288m	[env.py: 870]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:37:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.7857581  -0.75938371 -0.11628773] yaw=-79.4deg	[env.py: 1019]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:37:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.9ms, total=121.9ms	[env.py: 1075]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.786, -0.759, -0.116)	[env.py: 1079]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg	[env.py: 1082]
+05/13 20:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:37:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:37:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:37:47 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:37:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:37:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:37:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:37:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:37:51 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:37:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:37:51 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 20:37:53 INFO: [Worker 0] Feasibility-checked 242 grasps in 12.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:53 INFO: [Worker 0] Feasible grasp found 444 (originally 137): w/ 0.808[m] 133.153[deg]	[grasp_sample.py: 539]
+05/13 20:37:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:54 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 20:37:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:37:54 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.742[m] 92.655[deg]	[grasp_sample.py: 539]
+05/13 20:37:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:37:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:37:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:37:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:37:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:37:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.66s (batch: 3.14s, save: 4.52s)	[pipeline.py: 300]
+05/13 20:37:59 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.26s:
+  episode_total: mean=33.97s, total=67.94s, count=2, min=225.7ms, max=67712.1ms
+  sensor_polling: mean=150.5ms, total=39.44s, count=262, min=134.4ms, max=379.2ms
+  save_trajectories: mean=4.52s, total=4.52s, count=1, min=4520.6ms, max=4520.6ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3138.4ms, max=3138.4ms
+  physics_step: mean=9.7ms, total=2.54s, count=262, min=7.7ms, max=15.6ms
+  task_specific_sample: mean=240.8ms, total=481.6ms, count=2, min=221.9ms, max=259.7ms
+  task_sampling: mean=263.8ms, total=263.8ms, count=1, min=263.8ms, max=263.8ms
+  task_sampling_failed: mean=225.7ms, total=225.7ms, count=1, min=225.7ms, max=225.7ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.4ms, max=1.6ms
+  mj_forward_sync: mean=296.9us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.3us, 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 20:38:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160199m	[env.py: 870]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22108467 -1.20209414 -0.1601994 ] yaw=-37.4deg	[env.py: 1019]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88225541 -0.82847562 -0.1601994 ] yaw=-60.2deg	[env.py: 1019]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=456.7ms, total=456.8ms	[env.py: 1075]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.202, -0.160)	[env.py: 1079]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg	[env.py: 1082]
+05/13 20:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:02 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:04 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:04 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.664[m] 89.906[deg]	[grasp_sample.py: 539]
+05/13 20:38:05 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:07 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 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179968m	[env.py: 870]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89264649 -0.7500999  -0.17996751] yaw=-82.9deg	[env.py: 1019]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5223396  -1.00333374 -0.17996751] yaw=-52.6deg	[env.py: 1019]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=410.0ms, total=410.0ms	[env.py: 1075]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.893, -0.750, -0.180)	[env.py: 1079]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.9 deg	[env.py: 1082]
+05/13 20:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:07 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:09 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.134s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.695[m] 96.600[deg]	[grasp_sample.py: 539]
+05/13 20:38:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:38:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:21 INFO: [Worker 0] Feasibility-checked 239 grasps in 1.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:21 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.116[m] 6.642[deg]	[grasp_sample.py: 539]
+05/13 20:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:22 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:23 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 20:38:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:23 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 20:38:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105810m	[env.py: 870]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00646819 -1.28773044 -0.10581009] yaw=-29.3deg	[env.py: 1019]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms	[env.py: 1075]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.006, -1.288, -0.106)	[env.py: 1079]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg	[env.py: 1082]
+05/13 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/13 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:24 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:25 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.548s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:38:26 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.181s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:26 INFO: [Worker 0] Feasible grasp found 430 (originally 123): w/ 0.176[m] 28.329[deg]	[grasp_sample.py: 539]
+05/13 20:38:27 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:27 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 20:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120781m	[env.py: 870]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=114.0ms, total=114.0ms	[env.py: 1105]
+05/13 20:38:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:38:27 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 20:38:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175057m	[env.py: 870]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38028124 -0.90376843 -0.175057  ] yaw=-61.5deg	[env.py: 1019]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.6091442  -0.74663791 -0.175057  ] yaw=-87.5deg	[env.py: 1019]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.83657228 -0.90075706 -0.175057  ] yaw=-92.1deg	[env.py: 1019]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.6ms, total=82.6ms	[env.py: 1075]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.904, -0.175)	[env.py: 1079]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg	[env.py: 1082]
+05/13 20:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:29 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176971m	[env.py: 870]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=119.3ms, total=119.3ms	[env.py: 1105]
+05/13 20:38:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:38:29 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:38:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.683[m] 90.960[deg]	[grasp_sample.py: 539]
+05/13 20:38:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:31 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 20:38:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117795m	[env.py: 870]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81713025 -0.89339848 -0.11779451] yaw=-93.0deg	[env.py: 1019]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.817, -0.893, -0.118)	[env.py: 1079]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.0 deg	[env.py: 1082]
+05/13 20:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:31 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.657[m] 102.257[deg]	[grasp_sample.py: 539]
+05/13 20:38:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:32 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 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156216m	[env.py: 870]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75468273 -0.95224294 -0.15621556] yaw=-80.6deg	[env.py: 1019]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62455634 -0.88353351 -0.15621556] yaw=-56.9deg	[env.py: 1019]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.755, -0.952, -0.156)	[env.py: 1079]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.6 deg	[env.py: 1082]
+05/13 20:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/13 20:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:33 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:34 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.575[m] 91.219[deg]	[grasp_sample.py: 539]
+05/13 20:38:34 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:38:35 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:36 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 20:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173770m	[env.py: 870]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51976176 -0.98406172 -0.1737697 ] yaw=-52.9deg	[env.py: 1019]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28648461 -0.88542201 -0.1737697 ] yaw=-56.0deg	[env.py: 1019]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.74213495 -0.79195243 -0.1737697 ] yaw=-81.0deg	[env.py: 1019]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.2ms	[env.py: 1075]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.984, -0.174)	[env.py: 1079]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg	[env.py: 1082]
+05/13 20:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:37 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:37 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 20:38:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.622[m] 86.184[deg]	[grasp_sample.py: 539]
+05/13 20:38:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 128 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:43 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 20:38:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:44 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:44 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.533[m] 76.557[deg]	[grasp_sample.py: 539]
+05/13 20:38:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:47 INFO: [Worker 0] Feasibility-checked 128 grasps in 8.977s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:47 INFO: [Worker 0] Feasible grasp found 224 (originally 224): w/ 0.048[m] 14.244[deg]	[grasp_sample.py: 539]
+05/13 20:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:48 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:48 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:38:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:38:48 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 20:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148976m	[env.py: 870]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1105]
+05/13 20:38:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:38:49 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 20:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:51 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:51 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.528[m] 75.796[deg]	[grasp_sample.py: 539]
+05/13 20:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:38:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102345m	[env.py: 870]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77202951 -0.82882019 -0.10234513] yaw=-84.6deg	[env.py: 1019]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.7198936  -0.8567491  -0.10234513] yaw=-64.1deg	[env.py: 1019]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05161997 -1.15561324 -0.10234513] yaw=-49.5deg	[env.py: 1019]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.0ms, total=107.0ms	[env.py: 1075]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.772, -0.829, -0.102)	[env.py: 1079]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.6 deg	[env.py: 1082]
+05/13 20:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:38:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:38:51 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:38:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:38:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:38:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:38:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:38:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:38:56 INFO: [Worker 0] Feasibility-checked 244 grasps in 4.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:56 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.676[m] 97.795[deg]	[grasp_sample.py: 539]
+05/13 20:38:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:38:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:38:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.40s (batch: 3.73s, save: 4.67s)	[pipeline.py: 300]
+05/13 20:38:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:57 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:38:57 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.528[m] 75.798[deg]	[grasp_sample.py: 539]
+05/13 20:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:38:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:38:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:57 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.93s:
+  episode_total: mean=16.05s, total=80.27s, count=5, min=117.8ms, max=76275.1ms
+  sensor_polling: mean=154.8ms, total=42.71s, count=276, min=137.2ms, max=359.1ms
+  save_trajectories: mean=4.67s, total=4.67s, count=1, min=4667.5ms, max=4667.5ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3733.8ms, max=3733.8ms
+  physics_step: mean=9.6ms, total=2.65s, count=276, min=7.3ms, max=17.2ms
+  task_specific_sample: mean=234.6ms, total=1.17s, count=5, min=114.2ms, max=384.3ms
+  task_sampling: mean=308.8ms, total=926.3ms, count=3, min=251.1ms, max=386.4ms
+  task_sampling_failed: mean=130.5ms, total=261.1ms, count=2, min=117.8ms, max=143.3ms
+  scene_randomize: mean=1.1ms, total=5.5ms, count=5, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=270.9us, total=1.4ms, count=5, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185553m	[env.py: 870]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12634043 -1.43811889 -0.18555284] yaw=-25.5deg	[env.py: 1019]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=104.1ms, total=104.1ms	[env.py: 1075]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.438, -0.186)	[env.py: 1079]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.5 deg	[env.py: 1082]
+05/13 20:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:00 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:39:02 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:39:02 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=False episode_total=0.87s:
+  episode_total: mean=11.55s, total=69.28s, count=6, min=121.2ms, max=34996.2ms
+  sensor_polling: mean=152.0ms, total=32.54s, count=214, min=132.6ms, max=444.8ms
+  physics_step: mean=9.1ms, total=1.95s, count=214, min=6.3ms, max=16.7ms
+  task_specific_sample: mean=245.1ms, total=1.47s, count=6, min=117.3ms, max=363.8ms
+  task_sampling: mean=291.2ms, total=873.7ms, count=3, min=281.5ms, max=307.9ms
+  task_sampling_failed: mean=204.3ms, total=612.9ms, count=3, min=121.2ms, max=366.9ms
+  scene_randomize: mean=1.0ms, total=6.1ms, count=6, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=259.6us, total=1.6ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:39:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176541m	[env.py: 870]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07089325 -1.24876741 -0.17654113] yaw=-55.0deg	[env.py: 1019]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06613103 -1.298778   -0.17654113] yaw=-41.3deg	[env.py: 1019]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms	[env.py: 1075]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.249, -0.177)	[env.py: 1079]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg	[env.py: 1082]
+05/13 20:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:04 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:04 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.620[m] 88.468[deg]	[grasp_sample.py: 539]
+05/13 20:39:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:04 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:04 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 20:39:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:39:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.066s, found 129 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:05 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.572s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:39:06 INFO: [Worker 0] Feasibility-checked 129 grasps in 1.375s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:06 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 3.112[deg]	[grasp_sample.py: 539]
+05/13 20:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:07 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 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133526m	[env.py: 870]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38704189 -0.78857986 -0.13352624] yaw=-61.4deg	[env.py: 1019]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46636919 -1.01823881 -0.13352624] yaw=-58.4deg	[env.py: 1019]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04316089 -1.40028173 -0.13352624] yaw=-21.1deg	[env.py: 1019]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.3ms, total=84.4ms	[env.py: 1075]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -0.789, -0.134)	[env.py: 1079]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/13 20:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:07 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149343m	[env.py: 870]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17763654 -1.17951545 -0.14934264] yaw=-15.9deg	[env.py: 1019]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms	[env.py: 1075]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.180, -0.149)	[env.py: 1079]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.9 deg	[env.py: 1082]
+05/13 20:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:08 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.526s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:39:09 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:39:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158359m	[env.py: 870]
+05/13 20:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87733152 -0.89035531 -0.15835943] yaw=-97.5deg	[env.py: 1019]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35885755 -0.80571019 -0.15835943] yaw=-83.6deg	[env.py: 1019]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62576651 -0.73170773 -0.15835943] yaw=-80.3deg	[env.py: 1019]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.2ms	[env.py: 1075]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.877, -0.890, -0.158)	[env.py: 1079]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.5 deg	[env.py: 1082]
+05/13 20:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/13 20:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:12 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:12 INFO: [Worker 0] Feasibility-checked 248 grasps in 4.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:12 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.545[m] 73.134[deg]	[grasp_sample.py: 539]
+05/13 20:39:12 INFO: [Worker 0] Feasibility-checked 238 grasps in 4.160s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:12 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.696[m] 78.837[deg]	[grasp_sample.py: 539]
+05/13 20:39:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:13 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:13 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.604[m] 87.769[deg]	[grasp_sample.py: 539]
+05/13 20:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:23 INFO: [Worker 0] Feasibility-checked 248 grasps in 5.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:23 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.545[m] 73.133[deg]	[grasp_sample.py: 539]
+05/13 20:39:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:25 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.465[m] 62.734[deg]	[grasp_sample.py: 539]
+05/13 20:39:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:29 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:30 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 20:39:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.051s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.025s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:31 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.461[m] 61.999[deg]	[grasp_sample.py: 539]
+05/13 20:39:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:34 INFO: [Worker 0] Feasibility-checked 248 grasps in 5.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:34 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.545[m] 73.133[deg]	[grasp_sample.py: 539]
+05/13 20:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:39:37 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 20:39:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:38 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:38 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.461[m] 62.000[deg]	[grasp_sample.py: 539]
+05/13 20:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:39:40 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:39:40 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=False episode_total=1.47s:
+  episode_total: mean=23.42s, total=93.67s, count=4, min=199.0ms, max=48552.7ms
+  sensor_polling: mean=148.7ms, total=33.15s, count=223, min=132.6ms, max=345.1ms
+  physics_step: mean=9.0ms, total=2.00s, count=223, min=6.6ms, max=13.9ms
+  task_specific_sample: mean=414.7ms, total=1.66s, count=4, min=196.1ms, max=625.6ms
+  task_sampling: mean=490.3ms, total=1.47s, count=3, min=264.3ms, max=628.2ms
+  task_sampling_failed: mean=199.0ms, total=199.0ms, count=1, min=199.0ms, max=199.0ms
+  scene_randomize: mean=1.1ms, total=4.5ms, count=4, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=255.6us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:41 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 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139187m	[env.py: 870]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06580547 -1.10892596 -0.13918721] yaw=-32.5deg	[env.py: 1019]
+05/13 20:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28291685 -1.08288242 -0.13918721] yaw=-68.9deg	[env.py: 1019]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms	[env.py: 1075]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.109, -0.139)	[env.py: 1079]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.5 deg	[env.py: 1082]
+05/13 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:39:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:39:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:39:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:39:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 20:39:44 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 20:39:44 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.77s:
+  episode_total: mean=13.02s, total=39.05s, count=3, min=1816.1ms, max=32272.3ms
+  sensor_polling: mean=157.9ms, total=11.21s, count=71, min=139.3ms, max=286.2ms
+  task_sampling: mean=258.0ms, total=774.0ms, count=3, min=203.2ms, max=319.5ms
+  task_specific_sample: mean=255.2ms, total=765.5ms, count=3, min=200.5ms, max=316.3ms
+  physics_step: mean=8.9ms, total=628.6ms, count=71, min=6.3ms, max=19.0ms
+  scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=267.9us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=22.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169303m	[env.py: 870]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.71042522 -0.6636091  -0.16930277] yaw=-51.3deg	[env.py: 1019]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.1ms	[env.py: 1075]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.710, -0.664, -0.169)	[env.py: 1079]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/13 20:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:45 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176089m	[env.py: 870]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74985347 -0.72418183 -0.17608949] yaw=-58.2deg	[env.py: 1019]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14490179 -1.07442984 -0.17608949] yaw=-15.4deg	[env.py: 1019]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.2ms, total=134.2ms	[env.py: 1075]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.750, -0.724, -0.176)	[env.py: 1079]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/13 20:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:46 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.598s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:39:47 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112859m	[env.py: 870]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84485092 -0.72179252 -0.1128593 ] yaw=-110.9deg	[env.py: 1019]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18661894 -1.22065536 -0.1128593 ] yaw=-61.1deg	[env.py: 1019]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.7ms	[env.py: 1075]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.845, -0.722, -0.113)	[env.py: 1079]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.9 deg	[env.py: 1082]
+05/13 20:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:49 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.062s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:50 INFO: [Worker 0] Feasibility-checked 243 grasps in 3.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:50 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.753[m] 94.679[deg]	[grasp_sample.py: 539]
+05/13 20:39:50 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:39:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:39:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:39:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.96s (batch: 3.24s, save: 5.72s)	[pipeline.py: 300]
+05/13 20:39:52 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.36s:
+  episode_total: mean=25.60s, total=128.00s, count=5, min=1889.8ms, max=75654.3ms
+  sensor_polling: mean=146.8ms, total=66.65s, count=454, min=130.6ms, max=407.9ms
+  save_trajectories: mean=5.72s, total=5.72s, count=1, min=5724.4ms, max=5724.4ms
+  physics_step: mean=9.5ms, total=4.33s, count=454, min=7.4ms, max=42.6ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3238.4ms, max=3238.4ms
+  task_sampling: mean=272.6ms, total=1.36s, count=5, min=207.5ms, max=314.2ms
+  task_specific_sample: mean=270.2ms, total=1.35s, count=5, min=205.5ms, max=311.3ms
+  scene_randomize: mean=999.7us, total=5.0ms, count=5, min=0.7ms, max=1.3ms
+  mj_forward_sync: mean=248.6us, total=1.2ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.8us, 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 20:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183910m	[env.py: 870]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76391962 -0.83948354 -0.18390979] yaw=-83.9deg	[env.py: 1019]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14748969 -1.07795851 -0.18390979] yaw=-23.7deg	[env.py: 1019]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83583974 -0.92101452 -0.18390979] yaw=-60.4deg	[env.py: 1019]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.8ms, total=70.8ms	[env.py: 1075]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.764, -0.839, -0.184)	[env.py: 1079]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.9 deg	[env.py: 1082]
+05/13 20:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:53 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:53 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 20:39:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:54 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 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139286m	[env.py: 870]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10330127 -1.04642193 -0.1392856 ] yaw=-64.1deg	[env.py: 1019]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25935828 -0.96050896 -0.1392856 ] yaw=-60.6deg	[env.py: 1019]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39395336 -0.98494715 -0.1392856 ] yaw=-60.9deg	[env.py: 1019]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.5ms, total=69.5ms	[env.py: 1075]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -1.046, -0.139)	[env.py: 1079]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg	[env.py: 1082]
+05/13 20:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:54 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.628[m] 90.560[deg]	[grasp_sample.py: 539]
+05/13 20:39:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:54 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:39:54 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 20:39:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 5.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:55 INFO: [Worker 0] Feasible grasp found 468 (originally 161): w/ 0.813[m] 97.854[deg]	[grasp_sample.py: 539]
+05/13 20:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:39:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.480s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:39:57 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123953m	[env.py: 870]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:39:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136111m	[env.py: 870]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53538436 -0.95139251 -0.12395283] yaw=-74.6deg	[env.py: 1019]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16219327 -1.39260432 -0.13611079] yaw=-32.8deg	[env.py: 1019]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56895977 -0.80716469 -0.13611079] yaw=-76.7deg	[env.py: 1019]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26152009 -0.94422725 -0.12395283] yaw=-59.7deg	[env.py: 1019]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=478.3ms, total=478.3ms	[env.py: 1075]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.951, -0.124)	[env.py: 1079]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg	[env.py: 1082]
+05/13 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:58 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=520.7ms, total=520.7ms	[env.py: 1075]
+05/13 20:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.393, -0.136)	[env.py: 1079]
+05/13 20:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/13 20:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/13 20:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.029s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:39:58 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:39:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:39:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:39:59 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.573s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:39:59 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.632[m] 88.924[deg]	[grasp_sample.py: 539]
+05/13 20:39:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:39:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:39:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:06 INFO: [Worker 0] Feasibility-checked 242 grasps in 8.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:06 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.642[m] 75.585[deg]	[grasp_sample.py: 539]
+05/13 20:40:07 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:08 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 20:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187822m	[env.py: 870]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34209451 -1.19099127 -0.18782193] yaw=-14.0deg	[env.py: 1019]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.79233896 -0.73753623 -0.18782193] yaw=-104.1deg	[env.py: 1019]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.5ms, total=234.5ms	[env.py: 1075]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.191, -0.188)	[env.py: 1079]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.0 deg	[env.py: 1082]
+05/13 20:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 20:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:09 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:09 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:40:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 20:40:09 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 20:40:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:16 INFO: [Worker 0] Feasibility-checked 234 grasps in 7.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:40:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.595[m] 83.724[deg]	[grasp_sample.py: 539]
+05/13 20:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:40:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:40:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:17 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 20:40:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:40:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:40:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.03s (batch: 3.27s, save: 4.75s)	[pipeline.py: 300]
+05/13 20:40:18 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.61s:
+  episode_total: mean=36.05s, total=72.10s, count=2, min=1973.9ms, max=70127.2ms
+  sensor_polling: mean=148.6ms, total=40.56s, count=273, min=132.1ms, max=501.4ms
+  save_trajectories: mean=4.75s, total=4.75s, count=1, min=4751.8ms, max=4751.8ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3274.2ms, max=3274.2ms
+  physics_step: mean=9.7ms, total=2.66s, count=273, min=7.6ms, max=16.7ms
+  task_sampling: mean=307.4ms, total=614.8ms, count=2, min=300.9ms, max=313.8ms
+  task_specific_sample: mean=304.1ms, total=608.2ms, count=2, min=298.4ms, max=309.8ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=278.0us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:40:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115819m	[env.py: 870]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10024255 -1.10339677 -0.1158189 ] yaw=-44.5deg	[env.py: 1019]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53293143 -0.89176576 -0.1158189 ] yaw=-46.9deg	[env.py: 1019]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.8ms	[env.py: 1075]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.100, -1.103, -0.116)	[env.py: 1079]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/13 20:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:40:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:40:20 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:40:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:40:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:40:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:40:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:22 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.549s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:40:22 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:40:24 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:40:24 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:40:24 INFO: [Worker 0] Worker 0 completed house 1: 14/19 successful episodes	[pipeline.py: 1323]
+05/13 20:40:24 INFO: [Worker 0] [PROFILE] House 1 complete: 14/19 successful, 19 episodes, total_time=2293.99s
+  House averages:
+  episode_total: mean=19.15s, total=1378.76s, count=72, min=121.2ms, max=74381.4ms
+  sensor_polling: mean=151.7ms, total=702.15s, count=4630, min=131.0ms, max=501.4ms
+  save_trajectories: mean=4.72s, total=66.02s, count=14, min=4324.9ms, max=5308.9ms
+  save_batch_prep: mean=3.21s, total=44.88s, count=14, min=2894.7ms, max=4485.2ms
+  physics_step: mean=9.6ms, total=44.57s, count=4630, min=6.1ms, max=45.0ms
+  task_sampling: mean=380.9ms, total=23.99s, count=63, min=201.2ms, max=4254.9ms
+  task_specific_sample: mean=309.8ms, total=22.31s, count=72, min=117.3ms, max=593.5ms
+  scene_load: mean=3.66s, total=3.66s, count=1, min=3657.9ms, max=3657.9ms
+  task_sampling_failed: mean=240.0ms, total=2.16s, count=9, min=121.2ms, max=383.4ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.7ms, max=1882.7ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms
+  compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1058.9ms, max=1058.9ms
+  compile_xml_load: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  scene_asset_install: mean=119.7ms, total=119.7ms, count=1, min=119.7ms, max=119.7ms
+  scene_randomize: mean=1.2ms, total=85.7ms, count=72, min=0.7ms, max=3.0ms
+  scene_init: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  mj_forward_sync: mean=267.2us, total=19.2ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  policy_setup: mean=20.3us, total=1.3ms, count=63, 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 20:40:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 20:40:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=2293.99s
+  Worker averages:
+  episode_total: mean=19.15s, total=1378.76s, count=72, min=121.2ms, max=74381.4ms
+  sensor_polling: mean=151.7ms, total=702.15s, count=4630, min=131.0ms, max=501.4ms
+  save_trajectories: mean=4.72s, total=66.02s, count=14, min=4324.9ms, max=5308.9ms
+  save_batch_prep: mean=3.21s, total=44.88s, count=14, min=2894.7ms, max=4485.2ms
+  physics_step: mean=9.6ms, total=44.57s, count=4630, min=6.1ms, max=45.0ms
+  task_sampling: mean=380.9ms, total=23.99s, count=63, min=201.2ms, max=4254.9ms
+  task_specific_sample: mean=309.8ms, total=22.31s, count=72, min=117.3ms, max=593.5ms
+  scene_load: mean=3.66s, total=3.66s, count=1, min=3657.9ms, max=3657.9ms
+  task_sampling_failed: mean=240.0ms, total=2.16s, count=9, min=121.2ms, max=383.4ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.7ms, max=1882.7ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms
+  compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1058.9ms, max=1058.9ms
+  compile_xml_load: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  scene_asset_install: mean=119.7ms, total=119.7ms, count=1, min=119.7ms, max=119.7ms
+  scene_randomize: mean=1.2ms, total=85.7ms, count=72, min=0.7ms, max=3.0ms
+  scene_init: mean=66.2ms, total=66.2ms, count=1, min=66.2ms, max=66.2ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  mj_forward_sync: mean=267.2us, total=19.2ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  policy_setup: mean=20.3us, total=1.3ms, count=63, 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 20:40:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:40:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:27 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 20:40:27 INFO: Success count: 14, Total count: 19	[pipeline.py: 1491]
+05/13 20:40:27 INFO: Success rate: 73.68%	[pipeline.py: 1492]
+05/13 20:40:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:40:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:40:41 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:40:42 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:40:54 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:40:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:40:54 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 20:40:55 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:40:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:40:55 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 20:40:58 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.38s (batch: 2.90s, save: 4.49s)	[pipeline.py: 300]
+05/13 20:41:02 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.86s:
+  episode_total: mean=33.50s, total=67.00s, count=2, min=1816.2ms, max=65180.9ms
+  sensor_polling: mean=146.3ms, total=37.75s, count=258, min=134.1ms, max=434.8ms
+  save_trajectories: mean=4.49s, total=4.49s, count=1, min=4486.3ms, max=4486.3ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2896.4ms, max=2896.4ms
+  physics_step: mean=9.4ms, total=2.42s, count=258, min=7.7ms, max=14.4ms
+  task_sampling: mean=432.0ms, total=864.1ms, count=2, min=232.3ms, max=631.8ms
+  task_specific_sample: mean=429.7ms, total=859.4ms, count=2, min=229.8ms, max=629.6ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=255.2us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=12.8us, 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 20:41:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:41:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:41:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.36s (batch: 3.92s, save: 4.44s)	[pipeline.py: 300]
+05/13 20:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104369m	[env.py: 870]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=118.2ms, total=118.2ms	[env.py: 1105]
+05/13 20:41:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:41:04 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 20:41:04 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.60s:
+  episode_total: mean=37.89s, total=75.77s, count=2, min=4639.7ms, max=71134.0ms
+  sensor_polling: mean=167.1ms, total=43.11s, count=258, min=143.1ms, max=416.5ms
+  save_trajectories: mean=4.44s, total=4.44s, count=1, min=4441.7ms, max=4441.7ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.1ms, max=3922.1ms
+  physics_step: mean=9.7ms, total=2.50s, count=258, min=8.7ms, max=14.3ms
+  task_sampling: mean=301.3ms, total=602.6ms, count=2, min=259.3ms, max=343.3ms
+  task_specific_sample: mean=298.2ms, total=596.4ms, count=2, min=255.5ms, max=340.9ms
+  scene_randomize: mean=928.4us, total=1.9ms, count=2, min=0.8ms, max=1.0ms
+  mj_forward_sync: mean=271.5us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=19.2us, 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 20:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168577m	[env.py: 870]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29693092 -1.17385018 -0.16857723] yaw=-19.8deg	[env.py: 1019]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.81995532 -0.83036535 -0.16857723] yaw=-94.6deg	[env.py: 1019]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.0ms, total=126.0ms	[env.py: 1075]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.174, -0.169)	[env.py: 1079]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.8 deg	[env.py: 1082]
+05/13 20:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:06 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132044m	[env.py: 870]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56700345 -0.8274746  -0.13204426] yaw=-78.8deg	[env.py: 1019]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15537829 -1.02002286 -0.13204426] yaw=-50.3deg	[env.py: 1019]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.91996471 -0.90072385 -0.13204426] yaw=-114.7deg	[env.py: 1019]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.7ms	[env.py: 1075]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.567, -0.827, -0.132)	[env.py: 1079]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg	[env.py: 1082]
+05/13 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:06 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:07 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.652[m] 88.026[deg]	[grasp_sample.py: 539]
+05/13 20:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:08 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.749[m] 103.598[deg]	[grasp_sample.py: 539]
+05/13 20:41:09 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:41:11 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:41:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:41:11 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 20:41:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102246m	[env.py: 870]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20330685 -0.93414375 -0.10224578] yaw=-71.0deg	[env.py: 1019]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34990978 -0.95578527 -0.10224578] yaw=-52.6deg	[env.py: 1019]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14770683 -1.36654289 -0.10224578] yaw=-11.9deg	[env.py: 1019]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.7ms, total=108.8ms	[env.py: 1075]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -0.934, -0.102)	[env.py: 1079]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg	[env.py: 1082]
+05/13 20:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:11 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.560s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:41:13 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106260m	[env.py: 870]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60119731 -0.98209863 -0.10625999] yaw=-76.3deg	[env.py: 1019]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32980796 -0.88046231 -0.10625999] yaw=-72.6deg	[env.py: 1019]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06022508 -1.22101659 -0.10625999] yaw=-34.3deg	[env.py: 1019]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.4ms, total=102.4ms	[env.py: 1075]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.982, -0.106)	[env.py: 1079]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg	[env.py: 1082]
+05/13 20:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:15 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:15 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 20:41:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:16 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.606[m] 99.430[deg]	[grasp_sample.py: 539]
+05/13 20:41:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:17 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 20:41:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:41:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:41:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.58s (batch: 2.93s, save: 4.65s)	[pipeline.py: 300]
+05/13 20:41:19 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.11s:
+  episode_total: mean=18.15s, total=90.75s, count=5, min=1997.2ms, max=70543.9ms
+  sensor_polling: mean=149.0ms, total=38.16s, count=256, min=139.3ms, max=303.2ms
+  save_trajectories: mean=4.65s, total=4.65s, count=1, min=4646.1ms, max=4646.1ms
+  save_batch_prep: mean=2.93s, total=2.93s, count=1, min=2929.8ms, max=2929.8ms
+  physics_step: mean=9.7ms, total=2.49s, count=256, min=7.6ms, max=13.0ms
+  task_sampling: mean=422.2ms, total=2.11s, count=5, min=305.9ms, max=700.5ms
+  task_specific_sample: mean=419.8ms, total=2.10s, count=5, min=303.8ms, max=698.1ms
+  scene_randomize: mean=961.5us, total=4.8ms, count=5, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=328.7us, total=1.6ms, count=5, min=0.2ms, max=0.5ms
+  policy_setup: mean=12.8us, 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 20:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177211m	[env.py: 870]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16853443 -1.23265488 -0.17721133] yaw=-17.1deg	[env.py: 1019]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms	[env.py: 1075]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.233, -0.177)	[env.py: 1079]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.1 deg	[env.py: 1082]
+05/13 20:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:21 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:23 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:23 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.692[m] 83.002[deg]	[grasp_sample.py: 539]
+05/13 20:41:23 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:25 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 20:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129263m	[env.py: 870]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20030254 -0.92692912 -0.12926321] yaw=-39.8deg	[env.py: 1019]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64875251 -0.8925459  -0.12926321] yaw=-65.5deg	[env.py: 1019]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=113.4ms, total=113.5ms	[env.py: 1075]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -0.927, -0.129)	[env.py: 1079]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg	[env.py: 1082]
+05/13 20:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:25 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.496s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:41:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:41:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:41:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:41:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:41:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:41:28 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 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153338m	[env.py: 870]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:41:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54224042 -1.01614964 -0.15333809] yaw=-84.7deg	[env.py: 1019]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68945996 -0.71583778 -0.15333809] yaw=-56.6deg	[env.py: 1019]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.88868362 -0.91607962 -0.15333809] yaw=-71.1deg	[env.py: 1019]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:41:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.2ms	[env.py: 1075]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -1.016, -0.153)	[env.py: 1079]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.7 deg	[env.py: 1082]
+05/13 20:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:41:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:41:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:41:28 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:41:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:41:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:30 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.632[m] 89.893[deg]	[grasp_sample.py: 539]
+05/13 20:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:41:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:34 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:41:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:41:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:41:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:41:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.081s, found 101 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:41:35 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.341s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:41:35 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.269[deg]	[grasp_sample.py: 539]
+05/13 20:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:41:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:41:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:41:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:41:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:41:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:41:57 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:42:01 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:42:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:42:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:42:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:42:12 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:42:14 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:42:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:42:14 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 20:42:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:42:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:42:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.21s (batch: 2.88s, save: 5.33s)	[pipeline.py: 300]
+05/13 20:42:19 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.28s:
+  episode_total: mean=36.79s, total=73.59s, count=2, min=125.4ms, max=73463.6ms
+  sensor_polling: mean=148.5ms, total=44.56s, count=300, min=129.7ms, max=401.5ms
+  save_trajectories: mean=5.33s, total=5.33s, count=1, min=5332.1ms, max=5332.1ms
+  physics_step: mean=9.7ms, total=2.90s, count=300, min=7.6ms, max=26.7ms
+  save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2879.4ms, max=2879.4ms
+  task_specific_sample: mean=201.8ms, total=403.6ms, count=2, min=121.6ms, max=282.0ms
+  task_sampling: mean=284.1ms, total=284.1ms, count=1, min=284.1ms, max=284.1ms
+  task_sampling_failed: mean=125.4ms, total=125.4ms, count=1, min=125.4ms, max=125.4ms
+  scene_randomize: mean=1.0ms, total=2.0ms, count=2, min=0.7ms, max=1.3ms
+  mj_forward_sync: mean=233.5us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.9us, 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 20:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:20 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 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188172m	[env.py: 870]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13391596 -1.38239345 -0.18817242] yaw=-3.5deg	[env.py: 1019]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88913585 -0.75091307 -0.18817242] yaw=-63.4deg	[env.py: 1019]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.5ms, total=136.5ms	[env.py: 1075]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.134, -1.382, -0.188)	[env.py: 1079]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.5 deg	[env.py: 1082]
+05/13 20:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:21 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:42:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:42:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.30s (batch: 3.74s, save: 4.57s)	[pipeline.py: 300]
+05/13 20:42:24 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.81s:
+  episode_total: mean=24.39s, total=73.16s, count=3, min=1903.7ms, max=68666.9ms
+  sensor_polling: mean=155.7ms, total=39.70s, count=255, min=132.5ms, max=367.2ms
+  save_trajectories: mean=4.57s, total=4.57s, count=1, min=4566.2ms, max=4566.2ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.7ms, max=3736.7ms
+  physics_step: mean=9.8ms, total=2.50s, count=255, min=7.4ms, max=13.1ms
+  task_sampling: mean=271.0ms, total=813.1ms, count=3, min=252.9ms, max=297.1ms
+  task_specific_sample: mean=267.4ms, total=802.1ms, count=3, min=250.1ms, max=294.3ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=0.9ms, max=2.6ms
+  mj_forward_sync: mean=259.4us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:42:24 INFO: [Worker 0] Feasibility-checked 229 grasps in 3.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:42:24 INFO: [Worker 0] Feasible grasp found 249 (originally 249): w/ 0.664[m] 94.498[deg]	[grasp_sample.py: 539]
+05/13 20:42:24 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:42:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:42:24 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 20:42:25 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141289m	[env.py: 870]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.7412232  -0.92280562 -0.14128875] yaw=-73.8deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05992261 -1.30786708 -0.14128875] yaw=-46.5deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57814982 -0.90887802 -0.14128875] yaw=-70.5deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.0ms	[env.py: 1075]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.741, -0.923, -0.141)	[env.py: 1079]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.8 deg	[env.py: 1082]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197085m	[env.py: 870]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5943987  -0.99395444 -0.19708537] yaw=-61.4deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62817666 -0.99793975 -0.19708537] yaw=-86.4deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65747978 -0.82208416 -0.19708537] yaw=-44.6deg	[env.py: 1019]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=51.3ms, total=51.3ms	[env.py: 1075]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.994, -0.197)	[env.py: 1079]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/13 20:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:26 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:26 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:27 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:42:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.590[m] 95.898[deg]	[grasp_sample.py: 539]
+05/13 20:42:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:42:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.553[m] 90.491[deg]	[grasp_sample.py: 539]
+05/13 20:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:42:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:42:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:42:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:42:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:42:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:28 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 20:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:42:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:42:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.38s (batch: 2.81s, save: 4.58s)	[pipeline.py: 300]
+05/13 20:42:32 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.91s:
+  episode_total: mean=22.95s, total=68.85s, count=3, min=1821.6ms, max=64464.8ms
+  sensor_polling: mean=143.1ms, total=36.77s, count=257, min=131.8ms, max=303.6ms
+  save_trajectories: mean=4.58s, total=4.58s, count=1, min=4576.1ms, max=4576.1ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2806.7ms, max=2806.7ms
+  physics_step: mean=9.5ms, total=2.44s, count=257, min=7.6ms, max=13.8ms
+  task_sampling: mean=302.6ms, total=907.9ms, count=3, min=248.8ms, max=345.0ms
+  task_specific_sample: mean=300.4ms, total=901.3ms, count=3, min=246.6ms, max=342.5ms
+  scene_randomize: mean=994.2us, total=3.0ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=240.1us, total=0.7ms, count=3, min=0.2ms, max=0.2ms
+  policy_setup: mean=12.4us, 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 20:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:34 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 20:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173353m	[env.py: 870]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24295437 -0.9447236  -0.17335288] yaw=-74.5deg	[env.py: 1019]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37632939 -0.91282136 -0.17335288] yaw=-28.9deg	[env.py: 1019]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=89.9ms, total=89.9ms	[env.py: 1075]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -0.945, -0.173)	[env.py: 1079]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg	[env.py: 1082]
+05/13 20:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:34 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.506s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:42:36 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:42:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:42:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:42:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:42:37 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 20:42:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:42:37 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 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156243m	[env.py: 870]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:42:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36193618 -1.17271294 -0.15624276] yaw=-56.5deg	[env.py: 1019]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90944951 -0.80880339 -0.15624276] yaw=-97.5deg	[env.py: 1019]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:42:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms	[env.py: 1075]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.173, -0.156)	[env.py: 1079]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/13 20:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:42:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:42:37 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:42:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:42:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:42:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:42:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:42:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:42:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.612[m] 87.397[deg]	[grasp_sample.py: 539]
+05/13 20:42:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:42:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:42:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:42:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:42:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:42:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:43:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:43:11 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:43:12 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:43:20 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:43:23 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:43:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:43:23 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/13 20:43:25 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:43:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:43:25 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 20:43:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:43:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:43:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.15s (batch: 2.86s, save: 4.29s)	[pipeline.py: 300]
+05/13 20:43:31 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.48s:
+  episode_total: mean=34.48s, total=68.96s, count=2, min=4152.7ms, max=64807.2ms
+  sensor_polling: mean=150.3ms, total=36.82s, count=245, min=138.5ms, max=359.5ms
+  save_trajectories: mean=4.29s, total=4.29s, count=1, min=4291.4ms, max=4291.4ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2855.4ms, max=2855.4ms
+  physics_step: mean=9.6ms, total=2.35s, count=245, min=7.5ms, max=11.1ms
+  task_sampling: mean=240.9ms, total=481.8ms, count=2, min=192.6ms, max=289.2ms
+  task_specific_sample: mean=238.7ms, total=477.4ms, count=2, min=190.5ms, max=286.9ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=236.0us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=12.8us, 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 20:43:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:43:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190254m	[env.py: 870]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22174048 -1.27282686 -0.19025439] yaw=-8.7deg	[env.py: 1019]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.8067818  -0.90325463 -0.19025439] yaw=-56.0deg	[env.py: 1019]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.91012816 -0.87954568 -0.19025439] yaw=-104.0deg	[env.py: 1019]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:43:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.4ms, total=99.4ms	[env.py: 1075]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.273, -0.190)	[env.py: 1079]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.7 deg	[env.py: 1082]
+05/13 20:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:43:33 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:43:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:43:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:43:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:43:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:43:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:43:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.18s (batch: 3.70s, save: 4.48s)	[pipeline.py: 300]
+05/13 20:43:33 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:43:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:43:33 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 20:43:33 INFO: [Worker 0] Feasibility-checked 229 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:43:33 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.631[m] 80.620[deg]	[grasp_sample.py: 539]
+05/13 20:43:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:43:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:43:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:34 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 20:43:34 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.49s:
+  episode_total: mean=68.06s, total=68.06s, count=1, min=68061.1ms, max=68061.1ms
+  sensor_polling: mean=156.5ms, total=39.75s, count=254, min=139.0ms, max=392.3ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4482.1ms, max=4482.1ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3698.9ms, max=3698.9ms
+  physics_step: mean=9.7ms, total=2.46s, count=254, min=7.6ms, max=11.9ms
+  task_sampling: mean=485.4ms, total=485.4ms, count=1, min=485.4ms, max=485.4ms
+  task_specific_sample: mean=482.3ms, total=482.3ms, count=1, min=482.3ms, max=482.3ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=242.5us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:43:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:36 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 20:43:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148670m	[env.py: 870]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=125.9ms, total=126.0ms	[env.py: 1105]
+05/13 20:43:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:43:36 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:43:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:43:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172845m	[env.py: 870]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=121.0ms, total=121.0ms	[env.py: 1105]
+05/13 20:43:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:43:39 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:43:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:43:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:43:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.36s (batch: 2.84s, save: 4.52s)	[pipeline.py: 300]
+05/13 20:43:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:43:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151598m	[env.py: 870]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60142442 -0.98648803 -0.15159837] yaw=-54.7deg	[env.py: 1019]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10111352 -1.38146393 -0.15159837] yaw=-38.3deg	[env.py: 1019]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.8ms, total=124.8ms	[env.py: 1075]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.986, -0.152)	[env.py: 1079]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg	[env.py: 1082]
+05/13 20:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:43:41 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:43:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:43:41 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.43s:
+  episode_total: mean=32.89s, total=65.78s, count=2, min=1833.2ms, max=63948.7ms
+  sensor_polling: mean=147.7ms, total=37.96s, count=257, min=134.7ms, max=396.7ms
+  save_trajectories: mean=4.52s, total=4.52s, count=1, min=4522.0ms, max=4522.0ms
+  save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2842.3ms, max=2842.3ms
+  physics_step: mean=9.5ms, total=2.45s, count=257, min=7.5ms, max=13.2ms
+  task_sampling: mean=213.3ms, total=426.5ms, count=2, min=200.1ms, max=226.4ms
+  task_specific_sample: mean=210.9ms, total=421.7ms, count=2, min=197.7ms, max=224.0ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=246.9us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.5us, 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 20:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:43:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.248s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:43:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.613[m] 94.215[deg]	[grasp_sample.py: 539]
+05/13 20:43:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:43:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:43:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:43:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139796m	[env.py: 870]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.68476164 -0.84979806 -0.13979621] yaw=-58.4deg	[env.py: 1019]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47646712 -0.97946594 -0.13979621] yaw=-82.3deg	[env.py: 1019]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=90.1ms, total=90.1ms	[env.py: 1075]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.850, -0.140)	[env.py: 1079]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 20:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:43:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:43:43 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:43:43 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 20:43:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:43:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:43:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:43:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.659[m] 96.016[deg]	[grasp_sample.py: 539]
+05/13 20:43:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:43:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:43:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:45 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 20:43:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:43:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:43:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:44:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:44:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:44:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.073s, found 71 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:15 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:44:18 INFO: [Worker 0] Feasibility-checked 71 grasps in 4.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:18 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.048[m] 7.724[deg]	[grasp_sample.py: 539]
+05/13 20:44:19 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:44:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:21 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 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162324m	[env.py: 870]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16390459 -1.05665365 -0.1623237 ] yaw=-68.5deg	[env.py: 1019]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52359507 -1.03653337 -0.1623237 ] yaw=-54.0deg	[env.py: 1019]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37641587 -1.08934792 -0.1623237 ] yaw=-62.7deg	[env.py: 1019]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.7ms, total=91.7ms	[env.py: 1075]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.057, -0.162)	[env.py: 1079]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/13 20:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:21 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.528s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:22 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:44:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188606m	[env.py: 870]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=126.6ms, total=126.6ms	[env.py: 1105]
+05/13 20:44:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:44:24 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:44:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:26 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 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105462m	[env.py: 870]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84143907 -0.86168554 -0.10546158] yaw=-93.5deg	[env.py: 1019]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms	[env.py: 1075]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.841, -0.862, -0.105)	[env.py: 1079]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.5 deg	[env.py: 1082]
+05/13 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:26 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:27 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.652[m] 101.709[deg]	[grasp_sample.py: 539]
+05/13 20:44:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:44:27 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:44:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:44:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:44:28 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:44:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 20:44:28 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 20:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:44:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:44:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 7.52s (batch: 3.00s, save: 4.51s)	[pipeline.py: 300]
+05/13 20:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:36 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.26s:
+  episode_total: mean=63.54s, total=63.54s, count=1, min=63536.9ms, max=63536.9ms
+  sensor_polling: mean=144.7ms, total=37.63s, count=260, min=128.8ms, max=350.7ms
+  save_trajectories: mean=4.51s, total=4.51s, count=1, min=4513.3ms, max=4513.3ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3003.6ms, max=3003.6ms
+  physics_step: mean=9.5ms, total=2.48s, count=260, min=7.2ms, max=13.9ms
+  task_sampling: mean=258.0ms, total=258.0ms, count=1, min=258.0ms, max=258.0ms
+  task_specific_sample: mean=255.6ms, total=255.6ms, count=1, min=255.6ms, max=255.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=285.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.7us, 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 20:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:44:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:44:37 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 20:44:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:37 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 20:44:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:37 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 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181286m	[env.py: 870]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82199674 -0.86348485 -0.1812857 ] yaw=-53.5deg	[env.py: 1019]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16198094 -1.41745739 -0.1812857 ] yaw=-46.7deg	[env.py: 1019]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms	[env.py: 1075]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.822, -0.863, -0.181)	[env.py: 1079]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/13 20:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:38 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:38 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:38 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.532[m] 77.674[deg]	[grasp_sample.py: 539]
+05/13 20:44:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.672[m] 95.131[deg]	[grasp_sample.py: 539]
+05/13 20:44:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:44:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:44:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:44:40 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:44:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:44:40 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 20:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151843m	[env.py: 870]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42731835 -0.93308744 -0.15184327] yaw=-57.0deg	[env.py: 1019]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -0.933, -0.152)	[env.py: 1079]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/13 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:41 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.150s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.655[m] 79.149[deg]	[grasp_sample.py: 539]
+05/13 20:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:44:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:44:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:44:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:44:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.92s (batch: 4.15s, save: 4.77s)	[pipeline.py: 300]
+05/13 20:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:50 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.30s:
+  episode_total: mean=23.25s, total=69.76s, count=3, min=128.2ms, max=69495.4ms
+  sensor_polling: mean=152.6ms, total=39.97s, count=262, min=136.2ms, max=412.5ms
+  save_trajectories: mean=4.77s, total=4.77s, count=1, min=4772.4ms, max=4772.4ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4152.3ms, max=4152.3ms
+  physics_step: mean=9.6ms, total=2.52s, count=262, min=7.5ms, max=14.5ms
+  task_specific_sample: mean=185.0ms, total=555.0ms, count=3, min=124.5ms, max=300.4ms
+  task_sampling: mean=303.9ms, total=303.9ms, count=1, min=303.9ms, max=303.9ms
+  task_sampling_failed: mean=131.1ms, total=262.2ms, count=2, min=128.1ms, max=134.0ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=0.9ms, max=2.5ms
+  mj_forward_sync: mean=253.4us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:44:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:44:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115753m	[env.py: 870]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37064583 -0.83142627 -0.11575316] yaw=-64.6deg	[env.py: 1019]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:53 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 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -0.831, -0.116)	[env.py: 1079]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/13 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:53 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.155s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:54 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.505[m] 66.516[deg]	[grasp_sample.py: 539]
+05/13 20:44:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.466s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:44:55 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:44:55 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101768m	[env.py: 870]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.91747025 -0.80821121 -0.10176773] yaw=-94.2deg	[env.py: 1019]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42920675 -0.96822131 -0.10176773] yaw=-83.9deg	[env.py: 1019]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.4ms, total=125.4ms	[env.py: 1075]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.917, -0.808, -0.102)	[env.py: 1079]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.2 deg	[env.py: 1082]
+05/13 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:57 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:44:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:44:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:44:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:44:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:44:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146996m	[env.py: 870]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:44:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41992259 -0.88138224 -0.14699605] yaw=-71.9deg	[env.py: 1019]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60207265 -0.9559343  -0.14699605] yaw=-69.6deg	[env.py: 1019]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.08327505 -1.36265784 -0.14699605] yaw=-20.0deg	[env.py: 1019]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.9ms, total=89.9ms	[env.py: 1075]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.881, -0.147)	[env.py: 1079]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg	[env.py: 1082]
+05/13 20:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:44:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:44:57 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:44:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:44:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:44:59 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.830s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:59 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.710[m] 106.694[deg]	[grasp_sample.py: 539]
+05/13 20:44:59 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:44:59 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.736[m] 93.086[deg]	[grasp_sample.py: 539]
+05/13 20:44:59 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:44:59 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:45:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100758m	[env.py: 870]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=145.4ms, total=145.4ms	[env.py: 1105]
+05/13 20:45:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:45:01 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 20:45:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137423m	[env.py: 870]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22748012 -1.05563984 -0.13742296] yaw=-54.8deg	[env.py: 1019]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49593755 -0.93993942 -0.13742296] yaw=-32.5deg	[env.py: 1019]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31624848 -0.85705675 -0.13742296] yaw=-45.5deg	[env.py: 1019]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.0ms	[env.py: 1075]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.056, -0.137)	[env.py: 1079]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg	[env.py: 1082]
+05/13 20:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:02 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:02 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:45:02 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:45:02 INFO: [Worker 0] Worker 0 completed house 1: 15/18 successful episodes	[pipeline.py: 1323]
+05/13 20:45:02 INFO: [Worker 0] [PROFILE] House 1 complete: 15/18 successful, 18 episodes, total_time=2635.37s
+  House averages:
+  episode_total: mean=23.17s, total=1668.48s, count=72, min=125.4ms, max=173885.3ms
+  sensor_polling: mean=148.5ms, total=746.13s, count=5026, min=128.0ms, max=436.7ms
+  save_trajectories: mean=4.74s, total=71.11s, count=15, min=4291.4ms, max=5724.4ms
+  physics_step: mean=9.5ms, total=47.98s, count=5026, min=6.2ms, max=42.6ms
+  save_batch_prep: mean=3.08s, total=46.14s, count=15, min=2847.0ms, max=3467.3ms
+  task_sampling: mean=358.2ms, total=24.36s, count=68, min=192.6ms, max=3958.5ms
+  task_specific_sample: mean=297.0ms, total=21.39s, count=72, min=121.6ms, max=629.6ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3597.9ms, max=3597.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1852.6ms, max=1852.6ms
+  scene_compile: mean=1.63s, total=1.63s, count=1, min=1625.1ms, max=1625.1ms
+  compile_mujoco: mean=1.03s, total=1.03s, count=1, min=1025.7ms, max=1025.7ms
+  task_sampling_failed: mean=197.9ms, total=791.5ms, count=4, min=125.4ms, max=299.1ms
+  compile_xml_load: mean=534.5ms, total=534.5ms, count=1, min=534.5ms, max=534.5ms
+  scene_randomize: mean=1.0ms, total=73.3ms, count=72, min=0.7ms, max=1.8ms
+  scene_asset_install: mean=62.7ms, total=62.7ms, count=1, min=62.7ms, max=62.7ms
+  scene_init: mean=57.4ms, total=57.4ms, count=1, min=57.4ms, max=57.4ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_objects: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  mj_forward_sync: mean=254.2us, total=18.3ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=14.0us, total=1.0ms, 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 20:45:02 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 20:45:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=2635.37s
+  Worker averages:
+  episode_total: mean=23.17s, total=1668.48s, count=72, min=125.4ms, max=173885.3ms
+  sensor_polling: mean=148.5ms, total=746.13s, count=5026, min=128.0ms, max=436.7ms
+  save_trajectories: mean=4.74s, total=71.11s, count=15, min=4291.4ms, max=5724.4ms
+  physics_step: mean=9.5ms, total=47.98s, count=5026, min=6.2ms, max=42.6ms
+  save_batch_prep: mean=3.08s, total=46.14s, count=15, min=2847.0ms, max=3467.3ms
+  task_sampling: mean=358.2ms, total=24.36s, count=68, min=192.6ms, max=3958.5ms
+  task_specific_sample: mean=297.0ms, total=21.39s, count=72, min=121.6ms, max=629.6ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3597.9ms, max=3597.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1852.6ms, max=1852.6ms
+  scene_compile: mean=1.63s, total=1.63s, count=1, min=1625.1ms, max=1625.1ms
+  compile_mujoco: mean=1.03s, total=1.03s, count=1, min=1025.7ms, max=1025.7ms
+  task_sampling_failed: mean=197.9ms, total=791.5ms, count=4, min=125.4ms, max=299.1ms
+  compile_xml_load: mean=534.5ms, total=534.5ms, count=1, min=534.5ms, max=534.5ms
+  scene_randomize: mean=1.0ms, total=73.3ms, count=72, min=0.7ms, max=1.8ms
+  scene_asset_install: mean=62.7ms, total=62.7ms, count=1, min=62.7ms, max=62.7ms
+  scene_init: mean=57.4ms, total=57.4ms, count=1, min=57.4ms, max=57.4ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_objects: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  mj_forward_sync: mean=254.2us, total=18.3ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=14.0us, total=1.0ms, 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 20:45:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:45:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.710[m] 83.706[deg]	[grasp_sample.py: 539]
+05/13 20:45:04 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:45:04 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 20:45:04 INFO: Success count: 15, Total count: 18	[pipeline.py: 1491]
+05/13 20:45:04 INFO: Success rate: 83.33%	[pipeline.py: 1492]
+05/13 20:45:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:45:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116587m	[env.py: 870]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.3ms, total=156.3ms	[env.py: 1105]
+05/13 20:45:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:45:06 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:45:08 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:45:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:45:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.066s, found 110 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:08 INFO: [Worker 0] Feasibility-checked 110 grasps in 0.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:45:08 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 3.070[deg]	[grasp_sample.py: 539]
+05/13 20:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190928m	[env.py: 870]
+05/13 20:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00151192 -1.35195408 -0.19092848] yaw=-25.2deg	[env.py: 1019]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29748623 -0.9548169  -0.19092848] yaw=-34.3deg	[env.py: 1019]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.2ms, total=141.2ms	[env.py: 1075]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -1.352, -0.191)	[env.py: 1079]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.2 deg	[env.py: 1082]
+05/13 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/13 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:45:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:09 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:10 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.485s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:45:10 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:45:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:12 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 20:45:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:12 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 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143603m	[env.py: 870]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=107.2ms, total=107.2ms	[env.py: 1105]
+05/13 20:45:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:45:13 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 20:45:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:45:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:45:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114176m	[env.py: 870]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02567827 -1.23456562 -0.11417627] yaw=-42.3deg	[env.py: 1019]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04459926 -1.18777658 -0.11417627] yaw=-52.4deg	[env.py: 1019]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.422711   -1.08561958 -0.11417627] yaw=-36.2deg	[env.py: 1019]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.9ms, total=114.9ms	[env.py: 1075]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -1.235, -0.114)	[env.py: 1079]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/13 20:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:15 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:15 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 20:45:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:16 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.474s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:45:16 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:45:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:45:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:45:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:45:18 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 20:45:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:45:18 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 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142650m	[env.py: 870]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:45:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38916173 -1.13719919 -0.14265044] yaw=-30.1deg	[env.py: 1019]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=111.7ms, total=111.8ms	[env.py: 1075]
+05/13 20:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -1.137, -0.143)	[env.py: 1079]
+05/13 20:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 20:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 20:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:45:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:45:19 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:45:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:45:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:45:20 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:45:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.613[m] 88.438[deg]	[grasp_sample.py: 539]
+05/13 20:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:45:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:45:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:45:30 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:45:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:45:44 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:45:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 20:45:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:45:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:45:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:45:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:45:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.16s (batch: 2.98s, save: 5.18s)	[pipeline.py: 300]
+05/13 20:45:53 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=1.01s:
+  episode_total: mean=24.73s, total=123.65s, count=5, min=133.3ms, max=71973.8ms
+  sensor_polling: mean=142.8ms, total=71.11s, count=498, min=130.8ms, max=358.5ms
+  save_trajectories: mean=5.18s, total=5.18s, count=1, min=5179.7ms, max=5179.7ms
+  physics_step: mean=9.2ms, total=4.59s, count=498, min=7.3ms, max=23.2ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2981.9ms, max=2981.9ms
+  task_specific_sample: mean=226.0ms, total=1.13s, count=5, min=129.8ms, max=269.9ms
+  task_sampling: mean=252.3ms, total=1.01s, count=4, min=224.9ms, max=271.8ms
+  task_sampling_failed: mean=133.2ms, total=133.2ms, count=1, min=133.2ms, max=133.2ms
+  scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=266.9us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:45:54 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:45:54 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:45:54 INFO: [Worker 0] Worker 0 completed house 1: 18/21 successful episodes	[pipeline.py: 1323]
+05/13 20:45:54 INFO: [Worker 0] [PROFILE] House 1 complete: 18/21 successful, 21 episodes, total_time=2811.52s
+  House averages:
+  episode_total: mean=23.82s, total=1715.20s, count=72, min=126.5ms, max=133032.7ms
+  sensor_polling: mean=152.2ms, total=847.10s, count=5567, min=127.3ms, max=446.9ms
+  save_trajectories: mean=4.68s, total=84.16s, count=18, min=4329.0ms, max=5308.6ms
+  save_batch_prep: mean=3.04s, total=54.81s, count=18, min=2806.7ms, max=3315.0ms
+  physics_step: mean=9.7ms, total=54.24s, count=5567, min=6.2ms, max=23.2ms
+  task_specific_sample: mean=297.0ms, total=21.39s, count=72, min=123.1ms, max=698.1ms
+  task_sampling: mean=328.4ms, total=19.38s, count=59, min=200.1ms, max=700.5ms
+  task_sampling_failed: mean=456.3ms, total=5.93s, count=13, min=126.4ms, max=3967.7ms
+  scene_load: mean=3.71s, total=3.71s, count=1, min=3713.6ms, max=3713.6ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.8ms, max=1885.8ms
+  scene_compile: mean=1.69s, total=1.69s, count=1, min=1689.7ms, max=1689.7ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1035.4ms, max=1035.4ms
+  compile_xml_load: mean=588.5ms, total=588.5ms, count=1, min=588.5ms, max=588.5ms
+  scene_randomize: mean=1.2ms, total=85.6ms, count=72, min=0.7ms, max=3.0ms
+  scene_init: mean=72.9ms, total=72.9ms, count=1, min=72.9ms, max=72.9ms
+  scene_asset_install: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms
+  asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
+  compile_aux_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_aux_policy_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  mj_forward_sync: mean=277.3us, total=20.0ms, count=72, min=0.2ms, max=0.5ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=14.9us, total=0.9ms, count=59, 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 20:45:54 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 20:45:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 21 episodes, total_time=2811.52s
+  Worker averages:
+  episode_total: mean=23.82s, total=1715.20s, count=72, min=126.5ms, max=133032.7ms
+  sensor_polling: mean=152.2ms, total=847.10s, count=5567, min=127.3ms, max=446.9ms
+  save_trajectories: mean=4.68s, total=84.16s, count=18, min=4329.0ms, max=5308.6ms
+  save_batch_prep: mean=3.04s, total=54.81s, count=18, min=2806.7ms, max=3315.0ms
+  physics_step: mean=9.7ms, total=54.24s, count=5567, min=6.2ms, max=23.2ms
+  task_specific_sample: mean=297.0ms, total=21.39s, count=72, min=123.1ms, max=698.1ms
+  task_sampling: mean=328.4ms, total=19.38s, count=59, min=200.1ms, max=700.5ms
+  task_sampling_failed: mean=456.3ms, total=5.93s, count=13, min=126.4ms, max=3967.7ms
+  scene_load: mean=3.71s, total=3.71s, count=1, min=3713.6ms, max=3713.6ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.8ms, max=1885.8ms
+  scene_compile: mean=1.69s, total=1.69s, count=1, min=1689.7ms, max=1689.7ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1035.4ms, max=1035.4ms
+  compile_xml_load: mean=588.5ms, total=588.5ms, count=1, min=588.5ms, max=588.5ms
+  scene_randomize: mean=1.2ms, total=85.6ms, count=72, min=0.7ms, max=3.0ms
+  scene_init: mean=72.9ms, total=72.9ms, count=1, min=72.9ms, max=72.9ms
+  scene_asset_install: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms
+  asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
+  compile_aux_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_aux_policy_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  mj_forward_sync: mean=277.3us, total=20.0ms, count=72, min=0.2ms, max=0.5ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=14.9us, total=0.9ms, count=59, 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 20:45:56 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 20:45:56 INFO: Success count: 18, Total count: 21	[pipeline.py: 1491]
+05/13 20:45:56 INFO: Success rate: 85.71%	[pipeline.py: 1492]
+05/13 20:46:02 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:46:15 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:46:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:46:15 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 20:46:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:46:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:46:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.01s (batch: 3.53s, save: 4.48s)	[pipeline.py: 300]
+05/13 20:46:23 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=1.67s:
+  episode_total: mean=9.49s, total=75.95s, count=8, min=113.7ms, max=64949.4ms
+  sensor_polling: mean=141.0ms, total=36.80s, count=261, min=130.4ms, max=421.9ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4482.0ms, max=4482.0ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.8ms, max=3532.8ms
+  physics_step: mean=9.3ms, total=2.42s, count=261, min=7.6ms, max=12.1ms
+  task_specific_sample: mean=240.9ms, total=1.93s, count=8, min=110.8ms, max=377.0ms
+  task_sampling: mean=278.2ms, total=1.67s, count=6, min=222.8ms, max=379.3ms
+  task_sampling_failed: mean=137.7ms, total=275.5ms, count=2, min=113.7ms, max=161.8ms
+  scene_randomize: mean=876.2us, total=7.0ms, count=8, min=0.7ms, max=1.3ms
+  mj_forward_sync: mean=237.2us, total=1.9ms, count=8, min=0.2ms, max=0.2ms
+  policy_setup: mean=19.3us, total=0.1ms, count=6, 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 20:46:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:46:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:46:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:46:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:46:25 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 20:46:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:46:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172938m	[env.py: 870]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:46:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20181161 -1.31430685 -0.17293812] yaw=-21.4deg	[env.py: 1019]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6279356  -0.68296029 -0.17293812] yaw=-71.6deg	[env.py: 1019]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.70697746 -0.87247388 -0.17293812] yaw=-89.9deg	[env.py: 1019]
+05/13 20:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.2ms	[env.py: 1075]
+05/13 20:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.314, -0.173)	[env.py: 1079]
+05/13 20:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.4 deg	[env.py: 1082]
+05/13 20:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 20:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:46:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:46:26 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:46:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:46:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:46:27 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:46:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.620[m] 85.636[deg]	[grasp_sample.py: 539]
+05/13 20:46:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:46:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:46:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:46:28 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 20:46:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:46:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:46:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:47:06 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:47:20 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:47:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:47:20 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 20:47:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:47:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:47:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.10s (batch: 3.49s, save: 4.61s)	[pipeline.py: 300]
+05/13 20:47:29 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.32s:
+  episode_total: mean=63.44s, total=63.44s, count=1, min=63440.5ms, max=63440.5ms
+  sensor_polling: mean=135.5ms, total=35.64s, count=263, min=129.1ms, max=405.8ms
+  save_trajectories: mean=4.61s, total=4.61s, count=1, min=4608.6ms, max=4608.6ms
+  save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3491.5ms, max=3491.5ms
+  physics_step: mean=9.2ms, total=2.42s, count=263, min=7.3ms, max=12.9ms
+  task_sampling: mean=320.2ms, total=320.2ms, count=1, min=320.2ms, max=320.2ms
+  task_specific_sample: mean=317.8ms, total=317.8ms, count=1, min=317.8ms, max=317.8ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=236.9us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116010m	[env.py: 870]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04833811 -1.17933054 -0.11601029] yaw=-18.1deg	[env.py: 1019]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84539265 -0.79437852 -0.11601029] yaw=-97.0deg	[env.py: 1019]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.9ms	[env.py: 1075]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.048, -1.179, -0.116)	[env.py: 1079]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.1 deg	[env.py: 1082]
+05/13 20:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:31 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:47:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:33 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.477s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 20:47:33 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 20:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:35 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 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182781m	[env.py: 870]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=119.1ms, total=119.1ms	[env.py: 1105]
+05/13 20:47:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 20:47:35 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 20:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:47:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:47:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:47:37 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 20:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190258m	[env.py: 870]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.67517628 -0.76391619 -0.19025813] yaw=-66.5deg	[env.py: 1019]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.8ms, total=120.8ms	[env.py: 1075]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.675, -0.764, -0.190)	[env.py: 1079]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg	[env.py: 1082]
+05/13 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:47:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:47:37 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:47:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:47:37 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 20:47:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:47:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:47:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:47:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.704[m] 84.741[deg]	[grasp_sample.py: 539]
+05/13 20:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:47:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:47:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:47:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 20:48:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 20:48:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 20:48:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:48:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 128 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:07 INFO: [Worker 0] Feasibility-checked 128 grasps in 1.091s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:07 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.050[m] 2.705[deg]	[grasp_sample.py: 539]
+05/13 20:48:08 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 20:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 20:48:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 20:48:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 20:48:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 20:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 20:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165128m	[env.py: 870]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 20:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28787381 -1.08497156 -0.16512791] yaw=-28.5deg	[env.py: 1019]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71318092 -0.94674512 -0.16512791] yaw=-63.4deg	[env.py: 1019]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6332636  -0.87405129 -0.16512791] yaw=-93.2deg	[env.py: 1019]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 20:48:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.6ms, total=69.6ms	[env.py: 1075]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.085, -0.165)	[env.py: 1079]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.5 deg	[env.py: 1082]
+05/13 20:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 20:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 20:48:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 20:48:10 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 20:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 20:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 20:48:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:12 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.667[m] 78.209[deg]	[grasp_sample.py: 539]
+05/13 20:48:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:48:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:48:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:48:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:37 INFO: [Worker 0] Object is not in grasp! 0.00101 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 20:48:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 20:48:37 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 20:48:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 20:48:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 103 non-colliding grasps	[grasp_sample.py: 465]
+05/13 20:48:38 INFO: [Worker 0] Feasibility-checked 103 grasps in 0.353s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 20:48:38 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 3.139[deg]	[grasp_sample.py: 539]
+05/13 20:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 20:48:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 20:48:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 20:48:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 20:48:59 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 20:49:12 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_051	[pipeline.py: 1174]
+05/13 20:49:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_051 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 20:49:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 20:49:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 20:49:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_051	[save_utils.py: 785]
+05/13 20:49:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_051 in 8.71s (batch: 3.59s, save: 5.12s)	[pipeline.py: 300]
+05/13 20:49:22 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.78s:
+  episode_total: mean=26.30s, total=105.22s, count=4, min=125.7ms, max=72075.7ms
+  sensor_polling: mean=140.0ms, total=63.16s, count=451, min=127.9ms, max=377.2ms
+  save_trajectories: mean=5.12s, total=5.12s, count=1, min=5116.5ms, max=5116.5ms
+  physics_step: mean=9.1ms, total=4.10s, count=451, min=7.3ms, max=27.6ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.4ms, max=3592.4ms
+  task_specific_sample: mean=223.1ms, total=892.5ms, count=4, min=122.2ms, max=292.2ms
+  task_sampling: mean=258.7ms, total=776.2ms, count=3, min=216.9ms, max=294.7ms
+  task_sampling_failed: mean=125.6ms, total=125.6ms, count=1, min=125.6ms, max=125.6ms
+  scene_randomize: mean=953.6us, total=3.8ms, count=4, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=235.5us, total=0.9ms, count=4, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 20:49:24 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:49:24 WARNING: [Worker 0] No trajectory data to save for chunk_051	[pipeline.py: 234]
+05/13 20:49:24 INFO: [Worker 0] Worker 0 completed house 1: 22/24 successful episodes	[pipeline.py: 1323]
+05/13 20:49:24 INFO: [Worker 0] [PROFILE] House 1 complete: 22/24 successful, 24 episodes, total_time=3208.94s
+  House averages:
+  episode_total: mean=26.22s, total=1888.08s, count=72, min=113.7ms, max=103010.6ms
+  sensor_polling: mean=154.6ms, total=1012.74s, count=6550, min=127.9ms, max=421.9ms
+  save_trajectories: mean=4.79s, total=105.34s, count=22, min=4441.7ms, max=6733.3ms
+  save_batch_prep: mean=3.82s, total=84.07s, count=22, min=3194.0ms, max=4794.3ms
+  physics_step: mean=9.8ms, total=64.01s, count=6550, min=6.3ms, max=42.1ms
+  task_sampling: mean=383.3ms, total=23.00s, count=60, min=203.2ms, max=4226.5ms
+  task_specific_sample: mean=287.9ms, total=20.73s, count=72, min=110.8ms, max=580.4ms
+  scene_load: mean=3.72s, total=3.72s, count=1, min=3717.7ms, max=3717.7ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1915.4ms, max=1915.4ms
+  task_sampling_failed: mean=138.9ms, total=1.67s, count=12, min=113.7ms, max=169.9ms
+  scene_compile: mean=1.51s, total=1.51s, count=1, min=1505.8ms, max=1505.8ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1041.2ms, max=1041.2ms
+  compile_xml_load: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
+  scene_asset_install: mean=222.5ms, total=222.5ms, count=1, min=222.5ms, max=222.5ms
+  asset_install_objects: mean=163.4ms, total=163.4ms, count=1, min=163.4ms, max=163.4ms
+  scene_randomize: mean=1.3ms, total=92.0ms, count=72, min=0.7ms, max=3.4ms
+  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_scene: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  mj_forward_sync: mean=267.6us, total=19.3ms, count=72, min=0.2ms, max=0.4ms
+  policy_setup: mean=21.2us, total=1.3ms, count=60, 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 20:49:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 20:49:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=3208.94s
+  Worker averages:
+  episode_total: mean=26.22s, total=1888.08s, count=72, min=113.7ms, max=103010.6ms
+  sensor_polling: mean=154.6ms, total=1012.74s, count=6550, min=127.9ms, max=421.9ms
+  save_trajectories: mean=4.79s, total=105.34s, count=22, min=4441.7ms, max=6733.3ms
+  save_batch_prep: mean=3.82s, total=84.07s, count=22, min=3194.0ms, max=4794.3ms
+  physics_step: mean=9.8ms, total=64.01s, count=6550, min=6.3ms, max=42.1ms
+  task_sampling: mean=383.3ms, total=23.00s, count=60, min=203.2ms, max=4226.5ms
+  task_specific_sample: mean=287.9ms, total=20.73s, count=72, min=110.8ms, max=580.4ms
+  scene_load: mean=3.72s, total=3.72s, count=1, min=3717.7ms, max=3717.7ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1915.4ms, max=1915.4ms
+  task_sampling_failed: mean=138.9ms, total=1.67s, count=12, min=113.7ms, max=169.9ms
+  scene_compile: mean=1.51s, total=1.51s, count=1, min=1505.8ms, max=1505.8ms
+  compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1041.2ms, max=1041.2ms
+  compile_xml_load: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
+  scene_asset_install: mean=222.5ms, total=222.5ms, count=1, min=222.5ms, max=222.5ms
+  asset_install_objects: mean=163.4ms, total=163.4ms, count=1, min=163.4ms, max=163.4ms
+  scene_randomize: mean=1.3ms, total=92.0ms, count=72, min=0.7ms, max=3.4ms
+  scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_aux_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_aux_policy_objects: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  asset_install_scene: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  mj_forward_sync: mean=267.6us, total=19.3ms, count=72, min=0.2ms, max=0.4ms
+  policy_setup: mean=21.2us, total=1.3ms, count=60, 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 20:49:27 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 20:49:27 INFO: Success count: 22, Total count: 24	[pipeline.py: 1491]
+05/13 20:49:27 INFO: Success rate: 91.67%	[pipeline.py: 1492]
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