diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..462d6b2ccd3f3a24982d2d54492d12279dd7aef4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f381c7a324e1c67dbd8435bbcb86e944137378fd36d74d4a500fdb9b410a5d48
+size 667209
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5726138e223f33676be1ab5867cdb89e93cb5b84
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8231a3ba45b9a187797af2ac73fba67e7119872ded813903470961f17e707fd
+size 543041
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0083d1e551f26f725534db3a51c63c6a2d7f9a2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be938b3770f3c77b88c838e2cd0c23aea06d4bdc29064de7c37b9f7bb63f253
+size 450808
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8ead9420f355407fbdd144cf622ed2d61185f10
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce20386d1334f849370f56225c2bc354a85d855697aa4463e5d9cbf14257db5
+size 503417
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a468dd6944d97305007f52698b8e6da4fd0da160
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:696e3d0495ae4870e350c9df223ee3d01dcb24894802525c9da09a462e02273f
+size 590654
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47caa099980ff5a38c5166cfac9589e20db275ad
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c93650e15fcc7024d92ab1d17386be51b69c0fb8312c25b01cb588e3f9e55931
+size 472545
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c46120ee3c367bcd91aab960d2e9daafc9062bc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d9e52f987064ff59e5367d02dd782d6e09ff4bfc5c7e330d9c865940d766d1
+size 386856
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05dc694920db301457a9b2df63bf62c43bf0569c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66cdc7f92fae4943288a6437505a9d5eb621225513dfe090f18914b99899352f
+size 440330
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fafac16b93a1abaae4792f45c15b5b6feefe6487
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70f86cc20373b25762b5970b9007bfca912d1ebf4824f6f46c8262ee87b72b4
+size 641530
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c15a8f0cce5c26758b9624fff69de77049852b2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ed46b6a1fe900d8552f39508c2d4dc65767be32a7f08314ea2a348dadff7eb
+size 597966
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bffe091d2d77824d97794d490857624bd364deb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4898c28354546ab13374fc7516c45edde39e689e9745a5301b5e310362b677aa
+size 502469
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e95846a596e9d856fa8f1539768ea508bf29c3a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3771c809bc0112724b63798c70279dc82d7d9de6b3a8bb983397e88e562c40fd
+size 603698
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..94f63134f6f2bc3f3082af8cf2fb1fba2708d3a8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4e4882ef4d5fb63784d85990346a6da3c428a03e18c38b1793338a128a9cfb8
+size 645257
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f40387191a0aa16de9dc24c4bbf6be9c1c693cd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7926f0d019226f26b3e4de3c0a2de40e24caa7ac50809657c69ebb764f0673e4
+size 805042
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30cf211f27d3c63bb8681c0aca49b9b7ab9f9651
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085d29484f39e7e9e9dd83543a8b59f7e297ebee9c894e395e7d68a09f7147c0
+size 699496
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcf48ac8645b2680df556654c2bca63d008867df
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d9e04787fd56e35c9fb602a35a724398879110e8f78f5ae2bcad1f79ea9f7f
+size 897848
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95bed38557a571747f093329141cf23572944239
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c315a7513bf9e1b605de30093be2f91b8312b6493795be600259f4a39b983d0c
+size 110170
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc2f6cc7ac63e1ad4958ef44e893c91319546fd8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba13b9985d4b68e992c716d931b82eee4f43150ea2eb3d06825859acf09a192
+size 117625
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..294501f6bae71939357b5d26ada5438bba14788d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333e3f42ab384e0cb053660bf589ba93c7b9a1d6478adafe81aa82a691ee5aa3
+size 110738
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a6505be84318da9dafbcdf56b0efcad5c7d5d4c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c72846111f16802eb8fdfd066296124ed03c39884d5a4a34bc9c5358a9a2e26
+size 120589
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b99c91aa81f521a4e2326e1a6f5f4a4ca84760d4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df178cc086fbde7898f9f0d05f18f340c8aef5ed82505c72193e61976c685448
+size 586065
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adb60970768c6cc2523794c9c990602434f55d0b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ce5b3365b68a0ff91f97a52659a209dafe97cef3c4d96a35a459f6984e6511
+size 641243
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99da47ab37125c60845cccc1ccdbbad7027fa7e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4296c98dcf02f0080d9d63b3d4ba1df497bf508ac04febd6e6afeb3085486508
+size 634573
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..205335640d4f23bb7377753043a1d694f5e7961c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b068e27ca7f4b5522be097868e3c5397be6e9e5f82963ecf02a447e82540695
+size 573280
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d4210a46c68f3bdc43cdf7c4d3df29a39a9108b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30828441dfa9e8337db5bb4e510e8a236b049d7feb6cb94b46c62b88778c587c
+size 492720
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31bf31b32761e3b3b0627c8f6eae0e36aee263e2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e358c9b3f5115c8306abf30017674800947a1382dd7a4182e91b37fc1f35d76
+size 444858
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d9740331174783e66c877c05222c7b6c382d207
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62defa6a740de753cd73cecbce38461f3a37c29972e54ec6086a19c875acf367
+size 526601
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c59bb2b863ed70fbcec4645a569cdec40d519a1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52eb6592ac954a6485dbe705f2415e8b6dadd066eee33c10ff2bfd0bee97551
+size 493062
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b2dc461476b15d2bea207b9c35e00eab3168e3c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:425fdb5163e7902fa1505f87d6b528d6a018806df95f8a49935f8abe4adde44e
+size 426297
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d136a8173df596dc71954a8dd07d5b3d363c314
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:141831166daa88d655da5a1d7911f5f13752588434d9f5a8178b12226a2b0cd9
+size 376489
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d968e4865e51d380f85c2dd2586275669121144
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2204816ab5efdb3b282b7c18467d9cbd44447deea780c19de952f54ef6e46178
+size 466761
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f1c89ac4a007101a9d86860e81430f52002e1a1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a0a387c90d27bbabaa8510956f33ba2dece94e847c7a62be084218623e3fd8b
+size 428568
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ed2b0ffb22d74c316b0dddf489673ef84b50848
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a3accbcc459718d2293bcc5eedb0b2790a8c599bf2b8f80c91a4c15869853a
+size 544217
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b42eb705bc5b86d5f640214bbd885417ec4dbf1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7701cb51ab88261bc9ba9e928bbf6f6019cc012511bdcd240672b1ea9f62d34d
+size 530743
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f98add4f6cbcd6fe7b524746c86de0f69ad8ca5e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aae72769d66d95ae703bb2c08c4b44c200f0d104eea4094e75dceb826f0688d
+size 492706
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd758dd9868e935d8a4beef99a5ff8180001ad6b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea0161033065061b1646faa07de044d9106225fe8c4adf027dac764f3bff7469
+size 541153
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d60dcdf36eb4f28859438a171820f14798b9d1c8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fadf94e716fef60124d1d96d6d41fd8dabb255cd9ff9b12178caa1befaecf3a4
+size 774771
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff73de63769920a5c6b7324a3cc385ef6183a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04395cae3aab7f6e9204ecf632ccea7da9c1b32207437868708bed040e8798c
+size 806755
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b96d5d8dbfbaee05f84fd037c18d1950eeafa83
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edcb1f5dd8032b6d4ba01180531536b4b87055f7338378eedaddada401ac3482
+size 712105
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5d61467d2f5f7eb86a26193deaeb676d7e0a8c6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498c83085ed3a1c6d99d234558310e00591b1b0d65f44cad24cbf6ac537769e0
+size 821327
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d66beacdefe6d5d0663baa739685ca24ce6df581
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7e9e8b854405620ee00456f7e666de2aae0898c0fc1442440da76309d1e15b
+size 148114
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f14f8f2c60432166c738c102bdec6f67983d53e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f7a59016e89b1259b924a1ef400b5b76789e6d6e196b65086ea3cc6c6eb191
+size 158600
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba87e9800352f57f5cc28e2d214045356faeaac2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d25dd72274c89cb3e056eef8d7c60ea4321050dc95aeb1c24019440f671857
+size 124395
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2ee241c5b6a35c770a2bf8f33b198aef526dd31
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7742181b99e909703ed796b5efd7668ae714e294312e3be4359fccb98d2a20
+size 181064
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ae990dc3723cad90cedef93bf72bb03abf49a44
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6556fec087b3b3a61afa378d5a32cedc59eb751328f212bb3339be682282c795
+size 733197
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbbf4f19d318e1a39daadacbd476e23b13e9c5a5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999aa2ac01ec57879f75ca743378991a9956c3ffce2b34e739f137aba07a0c8f
+size 746182
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e60451e3833ffb0e35d86e68900175f2f48b696a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1612fa59ea4e7f8974a655ff6ca31ba9dfc845ef8b6b7e951403638b4b995672
+size 648795
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ede3055cc3e9c07d0257e58fadf75fb1b254f71d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3c9f9aefd8c58249483a3ee4c891bdd0829dd7ff6c264f880d0fcbfe3572800
+size 807272
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14eeae70bfb10b2c85d27e50ac10c00c3f212445
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82ba817b1b4f7f3cece958db4b639bb49e88069c259239f934c9ca278a863ffd
+size 470554
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d57747663198bbb22774660b617b052a014c00ea
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a6b550aad5ef5e897c51c9af8dfcec50f1d6086bd72bd1c12c89cbf1a9e784
+size 487134
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56a7b2387226780639b5592f7e652f88ebfd65d0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c726fb2cf49c0f72d3297d0a7dbfab55d7c162fa8629fb778e99183f844744
+size 466173
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0af13802f91b90d54d6142a5895c43e7a0b105de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e541a0b481f513d79215c35fb5bb09276d7251da405482b8277e4dd47fcd443
+size 472551
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95b3e1aeffb66bd761e076726986f32c5a0582c0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55687cb6cbe91ad59b62a33997dd64ecdc2f8b6f493b44cc2d29936e0300d3bf
+size 413956
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21f0980b6b17bcce00c9a93e4533a52353726143
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:261c827e2950037e1c6f8b55751bf8b459cbd4305205d732309275eb67c22ae7
+size 429044
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..548795adc78e7d57d3069b0bdeb989de0b2b0fbf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a4a1c1eb0b27739e4647c90fd9c86b37a49d5e57e30334ce2d9a534c825a84
+size 409862
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e91809eb57f87f368ab1465f92e472a74f04d9d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:093edb3d63a5a05fc414379b9010f14f3e548e05f2cd04e5e82d23252bc644c8
+size 408340
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc61ef1d6d6cd135fea0f911a0a8520e27ad32e7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94fa04094769beacfc52ca4d28240c17f3e68d966e4a59b99fbef4dad9f34503
+size 539196
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1325f487e6ecfd8fad3090440e89e03b384b9e76
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4c60b3f827b36fdaa3bc01c8378390ed8bf989e1d548d3db0ea206edb261b46
+size 600440
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58856ba891d1499e3313272636211a7ecd8592d1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1583aff9e03c58db3b19f884abba5bb2f89569c704377a3e174a4d77e1b661
+size 509468
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22c33e6f0c7d778a74710e1bd952ce9af9069cbb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:985edabb628092ff3338aee9740740379ba3ac0badf7b1c7454ad695ef8e5595
+size 503246
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc039b7a946017ac574d180b9d703486a6da9e79
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87009f0c8c43e8662d385109010f9f0218469cd00234e8e83754184dd63d6627
+size 716313
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..516193185f55991836bc362bdbffae4e34542c4c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e408a5a4f25b6fd9757157efec0a03cbfb3376fc0f0b0382c2a953ae358556d
+size 783829
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39883805478492f2594f6f98ef25d151317e22a5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9bbc910e065a7c0c855ef8b9c1cf27ff1d7e041cc337cb00a90e8c599bde69
+size 711887
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7c937d21b05265c8dfb6ab9eaeefddcf1f1738a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a19c9d8b2d72a8681cfe32d8cde195bef0e16d26f8dd66fd6bd14870d1672b
+size 717677
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1bdb971138d4086b9e01653ec093ee8b9184ee1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472aa48af051abd39071012d1d123f157d63fe68b8584703763cb294b42fd46e
+size 110109
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97adeda384023b3dde8cd5d6dfed5f9fa9d76668
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b2fb073f34fdf43dcd30de74c9184b0f05a661089a6e56428a34a8982b12b7
+size 147986
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31cdf7b65072d20aba63711ff331a63ac797c44f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9dcaf61e83b9a5fb188690cd519c4a0ce4aca578e06e2138bb2881b4b8127c4
+size 125843
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a411cabe90f2efe8bc2240cfd7223683f288adf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1fb21089cecd801ac3d09de02f6925c66f74f42e12fbaac5be9a0755cd1faa9
+size 120784
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9987f80690b065ba9cc4423501b2b8711597d4af
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a7497799f4cce24f82488e3fb04e589a9a0fb2f737579b80d760c9d7646255
+size 675348
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82fc659c913e54ec567d7cd838db6fa42a85894a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005be1308ceb861ac455153922d7d9be715ac771b3027f4521a4801fe49acd9c
+size 733283
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ee2dc25b7dcd89d4bac2ff00ef4b4250c64fd3f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19da2b665d646f8fdeb4fda6eed465b4617a5401bc67c1dd83b3ee8efe32f6c
+size 689977
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2af3b78f55feacdea7527bccb0ed4979e491742d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6135baaa86b4c1fc68cbab7ee43a9d5db343751e6dc8fcd56db1daabb8fec2
+size 642515
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26fad24e09dcd64879f210543c8fc1fb5c26ccc9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388c84460cf0bccdef935b97b58eb6dfd125d6e88a9fc006c33569d359b003d3
+size 550799
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1577757f59c870eb8fcff18e318e7ef4f789c917
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4a40e6def51ff8b2fc3cb7a23b89a799d8fad8b701d92fe52c2cf1e55273f1
+size 546337
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..292fb8197c7ceacb2c0233262cc463f477bd28e7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3a73efb9573a2ac6b9cbe5fc63d5d4aa7984a3f9bf5de264f3e96e0595128f
+size 550658
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62c892264e02f23ec1f0a4dc96ca5334ace301af
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddaf43f1fc761c192b24a09d7ed1d1228d51d5aa77d092cdf825683e806fa21d
+size 689798
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05d328dde974da8673504a92e0b208c909a25adb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d7bbed382f3d7a00409dc7ed19636a0592e6d7034ac52cc39f1ce1eac6b1c3
+size 474941
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80ef9c1a18f6b4d49a8ff678f8daee07c57425d9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23839607b735a4c61e2006f5aa37fed068ebe8f15f38c93186b8700ce84bc517
+size 491275
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db532dba557bb85d23ff47bfbf2d52694a5833cc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25b77106622dec708b0b028109405c5e4732493194b720fb5839d1440e22c41
+size 491897
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8bdf081d09c9a2e9b8d06421a21ade5118234eb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa604f870816d7846254223fe079942c28acdd61399064a9fd4f0792fffcd546
+size 573622
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a54473e231fdf88c5286a28878779a741811f36c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2373a78ddf17b4f2029697fe5388714b92950860b9ede2484fb0287cf68a7e98
+size 562233
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b46afd74eeb8fb2fea3a8982a0e204344fea639
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7784a9623244df93f73626f1f98f53b1e0210d095ab6394ebc9f5a04a7828aa9
+size 696826
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f650ccd64ce86393058a890e73573d478e9494d3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca2c31cae089ec7e65b9af65c820a5bf11df7fc8596182bde91a9345b861e32
+size 742193
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b6604d1c4865321e0f6b2026f462983d0fdf8ba
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c410899d37c430a2b1e065ed346c4ae647b48608c6cd013949a95de2ae0100c5
+size 620013
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb400e50bf87413cb16d0419fb4cfe2366092f3f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea170342f8310ec46670e1fe98de8554f6b2671330620bbb8a3f733032b3648
+size 702007
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2e6f6f808248f4bf8510ea548b4073348c40304
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cdf26ebe8653feaa1e129e2c53a3023c4fd912fc48ca6db1ef161fe9bc35d2a
+size 875751
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43d70de4ece6f237784127c396431dea68157bbb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76a299961f6531d4878105a86a5f4b4b45f450bf35bf8057c1c44efd13394d5
+size 763785
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c96b18b01cdaf9d513a89df5a556b57256cc7752
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151e342781ee4de2eca4c2914390528bee924616a060cd99aa63d20a77b20177
+size 965760
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33bda57d84cc379f8802d7680ba05e340068b8e8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c55dd15763eb602816caf770a4103e25d8b44547f74f60eef0de29774ba018
+size 109163
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d48368d873eb685eb81833ebf450870feccb74d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f34075bb126bee4ef18845c106c4c810137493e8c16133e2320a41d2abc8b25
+size 119618
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e08ca25bb0f4a25ad206fd45605fa4dedc3ad3c6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a21b91daf357d120dd2e0cd0c79e4cac790b8e27a81f7ee2ef8860f5511ac9b
+size 157739
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09cefed6c1bd7f653feb37871c6ae3eb7ecff2db
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6be6b11f8d483204b284ebb1a21ef7c3aef6c75023c78ca6a46f0dfa35a2efdc
+size 129545
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e467b67585829ce90eff83e24f43bc9d8a31200c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452f671803e77828e0f25180ed01ac87182f2f818c27306d9941a3ee27315ae6
+size 605538
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98ec683508ba9b6b83d91b03d48348942bd2b0cf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af00e7c387a241772dc3b3e2cd698b97c76395b7e32396c8af01bfe7aa8fc214
+size 588430
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9dbf0c1f3d62687110b6309268393474a371bb0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85ab233305aa156e8c0ff78e01fa8d20f3efa2d5e0d4aaf8fce98c2c8266b7f
+size 664968
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..054cc3049543e69657f043bc0671e43fc6376e8f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0446495c9d2e3206740b0d3dbb6603f178b0e8547ae9a7de2807d4ed43f001
+size 680841
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c983a0ade3b51930e74d4a46fd1ee55b51e8713
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9db0fda70c3122b4a1a1248aa9821b72c1c54946d4c3cead9a915d2c4da4480
+size 434806
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..833c30b5dfaa368df7c5f9fdf4c3d049dbf2735c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2318716d56d8ea15b1653e06189a7235d30dc1e08046a1bd378f7dd9d6ba3fcb
+size 485099
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7edc2c455f4359aee3eae56a9040124af85e6c7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e6f92db30594a92e2af030403000916b36bb2e5472d7c41e89817469cbb142
+size 487863
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af721c4284ff5c1b77d0355f3cf4228929a40e3a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d8c490ae63aebdc8b4b1de030f9c4eb578a84a1e3479c4e14fc50d140e199c
+size 494847
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a36791255b060af9f9a37fc6952141f89c0fa622
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca10d716814e8b9723aed70da290228d1559491f534c025438e948e4c3bb286
+size 380783
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcf316d9b9926cbbf791434fb74914a838785afb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c0f78349057c558226302be220f2aaa7aa4d628b13d4bcdf03c48868fdcd7c
+size 441400
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f6908b754693ac6874021387d19d705e085eb69
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f03fa81ed056f784067cd807d7709dfb608958dbe9aa55ef4c7ae034de484898
+size 420095
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6b23ca45a42c5608ffb8989200cd210096fc2a5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653983a5381fb0e94d7c8d378ab8daa1c8c493f87865c41f755e81db8e4a57c2
+size 427140
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f502795fde6779d98fb826f35609884037ecb06d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f5d7bb25ebea95eaffba677ea8ffddd302796f83b1e72e34a017718a5c6a1d6
+size 550849
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b57260acb69653a3fc1774f34486c2c747caeca3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16684fcfd8a3b51b52a4abffa866512f02fdc5159a45d23366235067288da349
+size 528163
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24728d338138e2bb9b1d8938c890d5780c59c254
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c127580578a7c87f99971a83b5bc2965fa8f91eff677c9b351bb02523422400
+size 588486
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb2ceeebf78a56106ba364faadc2ab89f9bb24c3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409c7d8a19777d87b6679112e9e14e0a1627dccd838808193927e701f4f01f14
+size 529222
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76674f620ff7318a2e0ff622fd25fc32ceb3b0f8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e3e07b89bb4a5c31b0ad8f4636a158cd3ce3224781d4c9ee4a71bc1dd76cc8
+size 738833
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52659dc2441251bf0e81ea1a370f65f61a824031
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6180a6c6410e7fa58c47e41edb90320710c32d231d94d31a6dd26e4a3492265
+size 709861
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f6f888b6a4cb31cab7dd453b176ba4a61f46cf8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f3d0ea12c6b86665559b2222539b3de0d6c6f4ff3186dab9329ddcde7569877
+size 763833
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e67da53669a2b99e22ed93a3eaffb0589597223e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea19bffec5c16771ad8051a85faae0b296ae324143a3ba8c7534f466aea6244
+size 678484
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3659cadabf0ba5182f7f5f8d77656b808f6bb642
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe409803807e06873b1ea72738cac2444c6f20154356bd809a46d1d346c88908
+size 129803
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7ec0e0e6d1bf069b02cab92cd07633a9f1a4251
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a378cd00c2368c8c09cec91a32189446821b7523c2789ee35c6610af14f9701
+size 113536
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..614cf9c21b1d3f1ca41774ac028445cb550c07ca
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:518e7fbfef5084cd87e3b8327461b9c68c4b390cfcf44fe0576e55232c606abc
+size 125161
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe5a770a4da0b0dd1d00fcf13a16a15b11474a30
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d673fb7565f6e8136753e2da1a93a0f81b77df90aecc4741158660baf76bac2
+size 117426
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b21bcac05d2cc98d7bdac9a3b02448eef455b0d6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4a0483fbfa316607cd887b32c64649dcd1efe20ca427a099b683faa5e06353
+size 649023
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..489ab97fa195b9cfdd3f64f1b6ff91cef2697f9f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a57465c4805b5f49a8b09b169ddded04c8e9a4492cd3fb10f1c60492fea94051
+size 620863
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38dd573848e1cb0fcab29580fbd7712a0efe7b9e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66cad1db149a5ad4626f86c59bb8fb57cb1aa9d8c8d0714798e705485db76002
+size 609552
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..174d1f0cc8f67a1283750ed47b91bd8390f45114
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9711bf03794e5fca9f1034c28a871038d5c6072b82e0e9b0006b4b9aae3fa7e6
+size 616502
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c96e9c0cebf31d3abbecc937f778171397fc9e8c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55634b4385657061971a5202af1cd7c08deb19c82f55ccaa3c4dc9aa0d0e8965
+size 508748
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fb1b9dd511a211b9c3e28a8c736ec690b3bf566
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3820b5149ae8ac8c1f0d3de5664b5807591bdf8a48fe702ca7df0b242eef0953
+size 655561
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6cb855d8b9642b487e4a9277a7b8bf5a0f08d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f995f620f2ea8311c512bdbe2b174b58e0d019cd16e1c49a88330aa7baae1eb5
+size 465023
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..539b078c59072aae68398ff3428e4accbe71b740
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1def3acaed854710ab11c71b464b8570b9e032cee1659eb4698153e2bf0fff6a
+size 535924
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04303a23eb9a3fef252d8726d6aa11429e6643db
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecda35bad32886a0ece515a736e8586cf9d2f6c31c4f8d807408f1e6f81410c6
+size 437803
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68f213cb317d7548a4d4e200754cf7092c64bedf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c437377628ecdcec3f3d4fc45e491afc30f7015f72df3266c0c78dd454ac75f
+size 574114
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5927aebfaf15273ea07d0f12df0289f48671630
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ed5ec54635aec0f9444c4af0bc0adaf2c957dae76e92ade58dd494cd9436c2
+size 404153
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a07ecabdf8b4804d350d3d48ed7152bf0617ef1e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8530bbd89bcfcb89402488637a17b071b440b44cda6ac3d8050a539c1204cb1d
+size 478948
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee59612336520fffb003fd9d959306ce1e65eda4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6157164acc0ce4eb5441b112bdedb397f2e5e9b1ec0efa3771a15cc4b9782a4
+size 497930
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91e75fd9af6701c1b611240af3bf007eb514c24d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c16e98196284f8cf8fc2adf1badb8fb5551c4ed970c7f8f9ab060f732a9f9be
+size 689716
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e88a84ed7623557da01a909d01ba044b6ae6c9d4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be76f0bc789847f99dbc1ec824c43173af505f7bf3e8ec74224097c28fac2555
+size 535772
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e6faa8cb4822750b9ea8eb58773371b7b6c243c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209adfd64b77ea1d5d15f0e85362fcfaa24050dca69b52d54d3ac1aac98be2de
+size 558236
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8806dad19b01937be832451a69f96186514f76f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc772a61adc293177b48b77297ffe0e499f6cc328610648a237db38da9ab0e5e
+size 730632
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acba3466c29f48f2608c2a465e9c34b3be2e6490
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd21620e679ba51f0994bd17f522addd27ab18e3fe1828efbdf2900e5c549ab
+size 897412
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..827ceeece64e51834aa819f9b4557f250c863b66
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404b56025dc02aee5866eccb484009b23203e3a345d586609eedfe4bb431059f
+size 803571
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afbeec39dbd350fcc426760583f9ae903d17aab8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c2cac2bf26797885b15d2658f9e2f72b90bfa636e1c31ab1da914884470164
+size 866995
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48617691d252f71973fb621a7da5c8978b6dbb3b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1deb81db429c59c0b72fa61459ae95b49da2e3e4383bf85119b3527bca17f9
+size 132373
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f873489f49c838be2d9af6dae10a39b1727da527
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134b1fbb20cac7a0f88bfee22168ff747eec6032e5861f216bbb74aeb63d9e36
+size 116995
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6803c3fa8ca544fc5d3655caed6db7fb4d52adc2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee7ab7cfb9ddbc1cde39871bf796246f64af74c4bd8bf2c760afacad01e9190
+size 161016
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f6643521b350749dcb81322593b91f679517b84
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96bb720ef2a47b2bd8d8064abaaba3f0bf7867f6fcc09a20e816219f71e7d9d
+size 123758
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c708e3407f8eea5bb71cb3b57677001c3622d3a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3825100cd277edc620f8b95873aaf5ee867b64d4a7bec281a2c18860e4f20278
+size 658840
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfd3297bdc46f82bdebb3e1af43c1ef0561e860b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f20a9abbe9daee2393c8c0845baf456ff9083d7aee3a9cedaab55b9b95d3c88
+size 638573
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b13b36939c48fd9637993d349990808e5ea0751
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01ea1e9b2b9de7ffef1c5b724e9f12e561659442086f2ba1561719a0cd88e45b
+size 756957
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4edd2461b0e42a82dad610da4abafe313bd7ee1e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa03ba34655afee5203cfb0aa996b1ec2158bc6992f5ad5bb8f45392ca7ca751
+size 597440
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95cc69779186125225321b440dce5626e8d3a0be
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2718ba63cfaeeb6153fe3f63e3c1bd6ab94c557d82e60bb7186ebd721804a6bf
+size 488407
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7815852ae6410ae5be594650f403814dbe29dc4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744692ee836784f261963ed524b147b3f2e7091c16272d66f0181da73121710b
+size 544815
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb29bcb06524489d0d94d12a12550dcfe0fe8d70
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e50768257104fd2f65de202213214a0fd671f76575d6651804cc9d3b4118935
+size 577402
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b011517a33d99e5a02297878ca5a0851a4ed583
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8b8849b0799507b08c538d8fea1a525d00a078df456c9677624b683d900d1a
+size 507910
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7cbb5e423c3ee9d3bcc72d7ecf3d8144c24a541
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ee78d9eab41b1dadea6d86f03b15fb346ffde38c703158b4149c854bcaa309
+size 421953
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd8dfa5c10d95a8aca61a74184be4aef58a846d2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:141bd795a876c44474b8b8a82c9131e9efc2951302bded62fe3a3be2332e67da
+size 466798
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e0756b6e5b4096e75516953ea8835735bb7809a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6c75bbf06e11c666f7f67c97709d159fec48f0396ed79d91a4aa8d9e4f138b
+size 475585
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0744024f6a3b9d9ac0d91d01e6a6d799c6b9e412
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118dc2822491545c1fa2bfd6766d3b449b80a71f2b2e3d97dbfcd003cdaf8137
+size 449483
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe7dc5f3c76dae7352cdb13679dd32198e4e6221
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ddbacf96179b46777d9cf5c9c7f9f0d3a25552265f65232f6115070be73a2a
+size 586744
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c09b1b15e5f73ff175d47aeb7cda04bab9b025b4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6c507b3fd5cc1dfbd134b12bc5da9e2d4555bfe96d910e38947d77d4db0ce7
+size 594953
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e11068a2fc99400ece2f07faea1e51f283d5f595
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba2f6e3f352660aa9bc1c2e1f19f7a9a6ffb788215630b1e7a5ea493f6e1429
+size 564383
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1ab6ff31899e121dc913b8165f43097b5d5fcbe
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4a1d5c3a2754f452fc13edf391be191c59d5fc22e653f51b7fbaccfcda520e
+size 542529
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af479854e5dbdc68f770441f24800203b4d65cb3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb83a15ab5ddf216e16325d4736ee07297087d17dc45e118247958a466f161f7
+size 710180
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9997fb4e34f830c9e61c75139030499f1976f8e8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14638d3a78d912c7fdd7194f2c5cb3bdc3d9edcb11797ab84fb7d927637d4256
+size 999023
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cb7a26887da01d5131715bbb9130e469b11924b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f180fd843cf5e2a690e9ff3977a478a9016f40efdc07974822cbbc9764bcf2
+size 924379
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdafd374e6c0a716c0ed3a597a8f2c86279929f6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e94f76a99990fdde84a44982f5c5470068e079d5fbf92be68e9007ad72fb426
+size 794235
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b39f44df6f6b58f98f8ebe00395eac33022e7ea3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720f821f1aa431519eead6b5837c0e30fd8e09fc2afa2916824fcc06fe02ae9a
+size 112561
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cc8f1b8abf931dfdcb5798b9ca9e16324ae3b5b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0601f1e6e352c0c94737521415d308d6ad852e95627effc19f87f4a26e083c4
+size 204708
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3d2cf97fd06f9214b170aa54a67db25133d3d3f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af7e7695f7ac0660576976ef05037a9f3c3daf77351422562d2efc87dfc5b7aa
+size 127627
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1ddf11c8dd36d48cf08ffadfd0ebb071d02af2f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c769f683bdb1d35d9e10253e5c760c3a4149433d1f08423c9f8286ff92ad1a73
+size 122067
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79a0e4efbc322f8603ae69610d3f3e67fd8dade1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26167d9af302308cd8f5afef9f6e28387ef151c63071a2fdf2748bcd350d3ff6
+size 620738
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e21ef71d7257551fc78254f2ecd28b21a076a020
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca51506fa62027c7fc36bd2aa6ba1f6e020637b738d45e5e113578bb9386d47
+size 724099
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f16902ea96589f2540fef4e70636146d703a1ae
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a374cb4baea5dc35f0dd492b7532f2df30ab8399f6c55735bf95adace8d7c28
+size 602791
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10cc7743bfa70b6345758ed70cec9c1e3d20dbd5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0299cb85e3ad317a72d7b011b743099a62f061075767bcc760f2ecebf8df4a
+size 658518
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cc3c893b32767c68a6908612a2249fa7de048a2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08aa10d9c1e20bd9a7ae5c58aa381daa896d00d1b651124067a30a5809d75500
+size 704981
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f279e5047c8f2f3d7f567e3f5ee22d449286b7ea
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2608ef21af02de2f4cba7c1cfbc346bb4dbb22a922bd2549cd395d598965ae16
+size 633264
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..758af1dcd0b3529ea193f62a2bf19658d3f45b7f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3cd5e2acc2464a472a52ee2625c7aa0ea880f99ee69c7486a56199c67a846c2
+size 466879
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74c4eb9420304b8733f250c912c245e3b6a0e061
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7754255bcc3a7696f14a55390508b731938099034c44922b9a1d83d3eb717373
+size 485804
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd0dd22b2d910a52e7e2cfccfda5dac41b1c78e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c028b474d49d315921f76e0b38e24ebb863defe0d04236a22fbdfaad91ab260
+size 597618
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73d095c19899e4edd4890e15fdc708938ffa9fe0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2acdcc53448f87a883dc4e41da2701cb95e5fd2767bcb6a5f5b3a565a7468d3
+size 523614
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d3d95d7084d1ec45180c99e66d285278501ed98
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a2aa29de19b663d45298716822b8cea55be7e6c2798b6abb955b056f5422d3
+size 395963
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67260a1018d240891d5698a43fcb4a7a3ed7f028
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0442ebb7a78a7d0aa07f9e5a887299fa00ae1f5f09e8924d0dd937930ae8ba42
+size 426307
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d202c252dbb3bbd56c4e0f0e7e803c47ec089dd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc32fc62a0df8dafdec95311b348260463366686717694065d55e26b0649853
+size 743042
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25bbbd2646adb525f3b7ab91b69c7922ffa234b2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e433f1bbae70be9b1ebeba6f9d4c9c8510a78372250f72f9c6a778d276dcb6ae
+size 678109
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59e21eb02d02042650f4977d5a14f868420ae645
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85898cfbfb7e2d5a420e961d183cfe4ea4ece3c8d36b965c7939429d72bf0303
+size 563859
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53cb306bc9d213ae237ff24a764ff22c0d8bb545
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60c397e3bbb7b4ed6ac3118282933bd49f95a16a9389f552d9a9ce73b6d23652
+size 604755
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cbe9527465fa6673b30d05c1bf49b262355b0e2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2dc8b8c6a11313a818bb44ab8735e99ddef42e90046c2492c127e8f4f1f1116
+size 1182388
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dde2b7ddd0d476271191096e116e6500f4ac48b8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6416f5262324eae94337fa4b9931624a99e05edd57f4f164c8751552188c0b75
+size 1362916
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..964e0c2cc34a247d9ac7b096e26c8d47d3bf3476
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1a57f388a12f738e5a95f0997a3f4266cf2992d8b2667f74683d5130260029
+size 879461
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17d74a9cda202c5545438de287577e32fa646601
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9e170fd933f4662e53b2cc3dbfa30b0ee37d9af97ce3f12e21251d30e098cb
+size 813198
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79190bc552ee343857a59001464db7d1f6e268c1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e7c709d7d5eaf6ce725f3fda34df611d87c40a3ba7d724f0ee24b6e242849f
+size 166626
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..229e9b50c86c79c82dcf783d2eaaf07395bce1f0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947c737ea2ee480766ae2b0bc3c272168cb177c416c66901483dbf3fd5bc389a
+size 200224
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2441368841835911cd24e4449bd0232ea1d56bde
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c71e407cb43b852e8a6bdcfa7b9df47510454c14be19870ccd6283ce600661f
+size 131458
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70bf8bd6c49f49a9f8a9a4d0219d89f24f7c814b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1715aaef966d17bf67c31c95f14129c78f9a05ddf3f139d8c1adb9dd4cf774
+size 129792
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beea93b831ae3a46fc7ced79d3560caeef27ea03
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b67bfa19112c30dd2e7d9f8fb4cde3ca7a0345f22c7522c4ae3472874170df4
+size 867201
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..987375778ac6567f8c5ed7595b6c38aaa7af3a2a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0fe9e42699ad4f4ad039906dc374f6ea122379fd13da5ca8965b9ff942c590
+size 732531
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3470aa4f3808debc431cfac98ff4ce37d0ee401b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbaf379e1dca6e84828f503512b37c6ee7846656aa50ec6e77ebedcc1a1a7fe
+size 709141
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a328d1d49e8d02274cf2daf6fd92df5a7b4da69
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7968a7cf7d26982e1357b43cd834f1833feb7a3a07bf0365aba2a601a02a82a
+size 692405
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca7426dcd7ac3e7b700073fc59e139c66231b956
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804ca5c3d952a3ff88f7205dea0fd88bc7ebc66b99db796556369ff122e0a67d
+size 606589
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0838b2c7434f757309312fbf7bcdbcfc1875502f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc3c7256d36e3e4e6743332babc1a8aedb8d30b83bc2ec5e807c6fb367eb1bf
+size 473273
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..132116d24c356082f4a54f1144074ec5806b5582
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5681ce87a9a478aef0bbcd243daea0ad3d87141baaa01e09000a98536e24337
+size 413058
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ff82337794b83d8b4aa4a7961af1faedec42a94
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea733979e1df3d5a84a451ac26a18b39e8ce3fd37b87e459bf3ebf77786b6cbe
+size 512279
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0265b3e23cdb3f3fb985ec896bfaa9ffff9d6ce3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111e90f1a5597a4bfaa73961f23d9f676b04b9bde635f1afd14f195f4db52a5b
+size 551188
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b49d3a062f88491b42f9b9c82e3b9e507972b418
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faf04d5c9112508ed1e865d489f0343053ec4031717caf1f57e31a1924ddd9c1
+size 422273
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87f0366bb5a0752d2eda43fd6aefbb715a920991
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e5dfbd8fc7960ffc1d40200e7403c779d0d6d3d8d15f69e5be23cd0e099124
+size 365720
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..685680287a8a7f75b06726a2e83f4d2c708b1d55
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73023d16f5dd99c91dadfdb9299f2ac980e84666b530ed027f0510e3dccd357
+size 443888
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..536e1b27a259cb0b9c26d52befbae14a7a85327c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b148963ec51680fa34934092f81532497199a49ca3f11276a891ae458098251a
+size 611691
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce6b6155fb4e2616c0250273d528d2f1a7cc80dd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b87080fd2674f531ba7fa9ecb0176bd650e7886eda225fe28aa19ad0abfa463
+size 599853
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2ab2a06d27f532d1f42001c4dc01027f119936b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:256e637c15f69ccd2f67d2bede050a6d3032d32fde525ae820eb7872f9fdc9d0
+size 501198
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf7cdf52bc67b3a88e986bdcb2ec8181e04878b3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:521fe8a8d2b0c6e9908ce8714c3477abc77d95accebaf1e0cd67e21e435f60d8
+size 572382
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43fbee7f224bd9aea0ea4a39efedac05d6fa49a1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7825bb1d7ea34fe06acf42ca96693f1bddfc63c819a01819cfdc1a87fdc11adf
+size 798112
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34f0bc69060cd004f450a01d5510bc44fa1dde85
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5d901c100029b318693e5105fcbae84f777fa073add437570381a1a0399c55
+size 795990
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5be27c73b4cb837e80c86a7699ae65410b2b2366
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483ee7e6d8deb7279de1ad03b3ff0b866b5ee72db823366ef34d7812e571b07e
+size 669805
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..615c2e8f8eab3b15597df5b7e48be7f5916f87ca
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1fb69a7814669b05a0ac378006524486469c9e7646483ddbdd973a1f9f2cac
+size 791235
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff432d99c56e53a73969a6d477baec36bb7197ad
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa09a9d54d93eec785c6049131f713b9fb5d339848f501e6c10ebe32ca157962
+size 112923
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89f4cfd4f4bd1f6be833249c0ad31ef836938c90
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6420f9e321eb8d32673963bdba2a81a81c32f6d10016b4bd9107f665514646b9
+size 133044
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..995fbb074cc0928114a419899ef582eb6d228330
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fdfe8d9451ae3a6848b27d4fa1c14fb591e81eff8908e34efd0d38f7c1325f
+size 133583
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83f0b11fc7f655b0995019bf462e9455c582dc71
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a5a6d8c0a10c012f42c3673267771b61cfac6cf003179091c3b36875411de8
+size 135782
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99da12b5494ca862a57fa625f94fb3e261d0ef8a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c156170d33d8d6fa213d2d5435fc9b759a5e76dd416e2fe65a75dfe2fd19fb26
+size 543233
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b752b2739a3c9d5b5388c37c16a7c10ac1bce34
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d0c036a686557f392fbc30bc2e4c5639ee5d0dc97f8397d9475efcc5a8d963
+size 681992
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..258c14c4fbe37bb87b0a117e711b2549786f0e02
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d276f7cfbcac4461134d7eb0ed2bcc97057a120c196e85f422affaa48a83b5
+size 629560
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24d65f7e96384c666f08512e23631b3fb6a6f453
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850310c5bdb9818b746df62bff35aa0184eb3bc4cfa1e57979aefd64e22e91e9
+size 686823
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8047e377854fde91ded916d7cf7ad028f4d4690
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d7b1fdef8784fa7e554cccba181990b142d779f5ce5017cfb8e0ea8c4453c2
+size 413552
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d0b6832e313d1476385ffb2e1436487d6c7e51c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6605dea86f79144415a1bcb4ac70a539e5764511c6f68de1d07978ccefaa9410
+size 465431
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47671df694adb9ab6ce53e1ffa1a5f3e0d8c1d92
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4198984147fac67a55a6940d260fec19d1fb446fef3b35bbb26794a9ce7a5ebe
+size 559731
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b6055edee88a6b8bc1a114140cda0b597ad7c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbcfba4bbbf5f50c7dde8cc177229006c0e2ed03bb8e25fae67354b28e8d67b6
+size 400659
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24bb19e8b31b730c4bc2b0991c138c382471a539
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f99512b62f31f347d4b4479bccb81c5d690f352cccca1fa9aec7141d642ec8
+size 393771
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c550e77154b15afa567b85e56d2d0d95061be82
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e56153a322eca03ff472f0be1832a6bbe3ed14c826aaf527d4f4f27285d9b3
+size 478806
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45283fc27661729492866ae025f8ac75806637b5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9145ee5f3075861fe8218a4e3c6d8d56ae42f20a5c83f6e329c175e4fef13f
+size 489535
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cf2ac9321d8dc3cdddaf04e48c0a4ea69a00b2e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d80ec7d0370515d520ef8807ade2f0301d7f4c9dc64b2cacaccd1b92dfcfaa5
+size 532035
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e2eace31b6b6dcf8c589e23bf6c5cd21971f86f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41cb72dc308f9d96806f7f399f779215207d9c099403bb62e07aee8408151d6
+size 608233
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f157b47d342d77c7e30de5e22e312feaa1f88de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023d7409b984ec976f6b768b192dc46c1d455994b4efed1264115bfccdc7b3a3
+size 652631
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdae4d531921e8d7d4c06e33f0bf0df543140c5a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9453852375defbf471f5835fbf3a9fa65dbfb427240bf5c53440fcb62cee8a
+size 768813
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d83ef5c0a21cf7f78e7a2d09e4ea34b2100e93cf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5a5980d6f7706c4f88a5edba572a22b78830398b78e7f1d980d7a058833ce7
+size 908975
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80561650e041c86a583e4d1353a4e1c32972d8d1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4b37db1ec6b75f8032ec7615c55577e4a89ced8f68f2c6ccce79956b82a5a7
+size 111750
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a77623a4922b53c10d4b8339fb5af21c770c8db0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18070c97b22c4132735b6fc4ebeaaa7fbd0b29dfdb190125281941b6eaae583f
+size 127064
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99e8a0aab135fdf91a49ddb9111a26256e66f492
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6396564feff9e7ce554f0ac843cb45e1a9ca23a825ffbee15bf7b35090890cb
+size 127181
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54a70befa2c235d0ba9b7a2b3a93e6c06e0ea840
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe45cd4a7a183cc45a54ad3e72db1c3ffbf89c51ae59a2e3514f824cc7b09ea
+size 599252
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0fa4c7dd20679d4d942670e472346c691468ec6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b8a9aff63b3a196512996085623129b3869e40bcb3eef23607fd6277555f94
+size 650534
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88efcfc5bd530b7d66b445d7ff5cf0451010ab46
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074b53f4f556405d334995374ddc8d92e7472df9347ee5be3abc844e48ce2a47
+size 651114
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..594049d6a47ec1f20c2f9863c2510efdf0598f41
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daca2b45bc1927b786ce320f137f5fad7812e96d6a3b3796e4d84b9b4eb17774
+size 477733
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a2f4145077570130ed236f7f1204eb9d83d3d5d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8fd5c21b9d30d87c3d67f04581adb6153724872dde2d2b56ab0f8e93f574027
+size 458798
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..943685157b73b2c71e3b66fb907d167305dc3005
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d981f4eee368416b07735823b7e2d0656c0dba11666fc9ea0af70f7dabd2e8
+size 561092
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a16326a7e34f5f3701f70ddd83307778beeeb10
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3dfd7f0d80bd800a2f7075b00b023758b6e1e84e6d172a9bacd72c45fce788
+size 397814
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca9110557144646c7c426b9ccf426cfe1802c4d7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e16730329914cde5dcb6c51af8fb4e4b07a34bf7bdffa352ea87f9b343bb78b
+size 360183
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07b5668930ee8e36dfaf2c48093728e16fc3983a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a17baee2f086ec1d68bc173bce7bf48118531ea66719ec0900938a95a1695c
+size 502377
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fee6b5b3954e51d3fbc83c05547c32613f315e21
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70968072067a2313cfe5c75ec9c67e5569c5a9119cd286d8675d867963c0afa9
+size 618852
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d324fb5e359bbc7cbfcd84c289c97fafd5b697a6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a55fad05460ad46eea1b7aae5deb9bc6fd7847718e65363aa6bfea107edb5d
+size 498230
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af9d9cc43df616287209e6a23228f71f35e58c75
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:860fcbdf440dbf6ca5e9e08c219c52e4eee14b02d595d221c76753359647c524
+size 640393
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82d8b9aed71d7d7fb2f949b55f49ff27461d42d9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88bb919d6052998fa905a482f01640bfaae2176cc3bfc47db3fa8b68bc04b5ae
+size 1035440
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0b710552d4cb928c4f633d0089f88144f40c02
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b924ceac4f5a7470ba2bb1bb760d883ec3b7e053c1caa45edb7bae1188da86a1
+size 887758
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30d13ea83f10bc85c75fb4a3cf620f45dc027191
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1158543a355dd6d23c49ceebf1482ad82d816f49ada58fd7b4df17575b8ce192
+size 694653
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a30956afd35bfa3f89dfe575337aa9b9070bb883
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faea5f0b2ce0198f796bea0676253b2b018936a4596d4b25b32e9fd46643b592
+size 127769
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f82fc235a5d1190fdc5458962967bc35d00abebc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e094c803cf2fff8e46a33b39e8bd10c247ae6881a4e5ea1c35512a3168a8597f
+size 131620
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d82ece1a8bc8e5ff321ada31bdbbc16410d38b7b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b26c27a75d97d5cf0bb91fc7474bfdd7d7c59e5ee081d0735f1f2b84079e19
+size 112975
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6de06e4c2341bcfefda2a371d7dd898b8628c1d8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7164d9db44f833727682417a3a4e219d9a6f49025f0382655fa5f64fa2736b3e
+size 660488
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..799bb19811b44126e86ad78520569dc45e75b0b7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562fc7f3e95df0d8aa5be4556ba1166fbc26ec7b14a84ebf278b9fa847c1c1e9
+size 771715
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..360ae7928eb5028fbbe9f85e15bd4bc13e706b6a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e3751b10e9d3d3eca759f084df500eeccfbffd50fccd84a03d073a378cd3cb9
+size 559338
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f882a9d2ac863d21384fb0cc1e226e83873e31dd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa29c61ad79366f6faad534f56cbd7297a5fb61b3814d8f222b8d96ed481db4c
+size 688320
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0eb003ce3effe4bf4b5f3b6cf548758fa47b5422
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f31b8d32309227f8229dcc1c876ee8be00e6f596053f615e191dd3b3e479ec7e
+size 608503
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b35302ca6cd22c9bb4bb29ef3d0243a2a8083c97
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148ff6c10502ee43680a5b62fd8c3afd3c6dd703662ce67f5739f0d4ada19cae
+size 532981
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c74c81c027f83fadab615659e96e50bf016b227
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd809da4ea983e527ba75440b02641ab90188ada2666803d80888731e15ae2f
+size 579810
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30c90b64de1696beabd6c09578d78d02e058d323
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c74dc21659acabf65f1fd19d89897a02021c92184c2b24455c3b811650789d
+size 543769
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef558b3cdd5249a1c65fe6964417d39bd6a8ca9f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd8a5585154cf3399b2fe5d7953d647d36c40cb07c5caabe1552a5b672265a5
+size 460717
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73eb83751b1d108d315e49a1c599a88b652d6171
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3de5ad215467343bf99bf98bdf28b986ba7351a6f1871dfe96f036d8ba05e52a
+size 700559
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ee39a85098f197ed71b46dee1cacb7c5e7e0edb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463f9927f6d0524e3f39356b0c0e6556ba78ed28c6ff779242070227129d7bbd
+size 552631
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a391cdb689fd62393a4e7140fce30333c33f76e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14b453e0b409b5ea41a137316b8c481d0839352987f5e03f91b247e2b4fc21e
+size 651635
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00e1e7e0a1693736e442428dc93062e810c90337
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5c1a6c70877725e63d02427b8a078b0081c6781cb067f004a22ec56586ae2b
+size 1091448
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3882e8bdfc6ee4d8976ced81761a5a379cd218a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0b0295a15f2d2bf76b22dd661b016afe3b27c11a6345cdae497e293149bca2
+size 758699
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f54303a9dabed953159deddde91066992dc0c387
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca756fa200a343409863b2a6159597149045754d217907f877d3c7ccdc0dd3d4
+size 1006400
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43a20b9cc0c22f5e3af197458aec9efd06d40d21
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5aa1b41f8b9f5d6e39a3ff3fac27d6a43eedf1d00e3d12d7214f9337d237d25
+size 159878
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b1abca4b3dd4c9aee1df54dbcd487c2a4ee5b74
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385c7b5b60264b35a09774c21a0459b7b93d1a09c7238e6dc591968c5382606f
+size 114335
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7209ff6dd8c60618ecd418ea1c4189917f01b765
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd10ebf6b50e62cc40cb95d65b19380eebee98a6ba44b8fec4edf712eb234d75
+size 162333
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7527057715315d25fc1955a9da3aa30b5e3d47e8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2796af59ec8b4a2f1b14f911ef5028109495d7390875c56b3b82d653f731f363
+size 722878
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed6a53b543df7b1b0416765e6c2c759a323fb4e2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930ecdffb60f53889b4ca68951cd104c79d515c9271c415b185b0a885ce5c6c8
+size 538927
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d5ed81c616ef5ce25a1dc51144826134a8ede75
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1062efb216c2b7f69d9efc369e1b6afb18ca08d1f98cfef4b5ea880d8cb8ef
+size 746334
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0445cada5cb122990f7cdc47d442c6092c53b0d3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6511a2324907977a72f8630cb0bad99b6061e2f61c85cbe81e29ea8e0b7c87b
+size 482699
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c177e4e8a94fdf71bf64980eef33cd46788e869f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51de0a6a26f4da75dd181cb5478122f737a07ab22645c842e8c324cfdd7ad0ed
+size 447737
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb84304b6f1847b6df37826ea3c81c4833df8892
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6168c492641adcfaefa494e53939cdf6d4ca0f25de58d845881cc3e97c09801a
+size 500880
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a88196c541d5cfd7ac0458879c7efc430f2eaa63
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583326fcc7277122fe819788a897f33291917fe97cf6eec9b9ec35d8b735294d
+size 408016
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..564af12f1e51c0b17bbaa108564c2f178103de7c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:138c6333bbdb1299c96e85c5a84ca1257f7dddc5842c4bd0b0d21a07377e5f8f
+size 386631
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84571c5a608991f32517d87c6aa61cfc42cc28d8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d5b436765be8a9a7f80cfac9e27ab9810b66bb78fdc7f56adf9d90edbf324e
+size 431182
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72cb3c89f341ba7b56c9f603d49bb66a27d61275
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226986dae83328c5f0b7273e74037b0a2647405ca3162b40957eaf473b9e4b68
+size 566901
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9578b3fdccad7b3f4abb8dd9e1f9891b7952d7fb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9dea808883efc105a0d8ddb318518cb04b8d800a1bfbfc6f7ef4da616fd4f3f
+size 543385
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7b22d8daef6185a289b3d4008590dcc4d9c71cc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77069702930df1040df98f1e0bec3cc4f552c929caedb7b68a0c6ddd32e04765
+size 607610
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..956d0d358a918ecc668cdd3938d8382ddbe07dc0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1ddeac793ce930e685c70cf6fcd448d0616e01735377cc9f6467266616f2aa
+size 762470
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ea33a6a15bb7eabbf876460f32a9fc0d5b15337
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59af1e8e46cfb3a86f1e2795371ca2dc4275064e7e419ee5967e2cfd18df4b2d
+size 696905
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f260956daf9ebfd409c3b54b57a4e8f5187e420
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a4d745cba2db5b2f380afbb53bcd089364452b4029bd7adfa275c73ba1ffa5
+size 866680
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b02a2342add1aa7d4a8da80850362a9230798281
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83aeafb5d7b0743a06caba58e71c6c85005a94746d81695a5edc4820c2d38bd
+size 132977
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb1b9d5938f7212f3abe40be8841465f481d9d50
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d9f41af2186e441e4ec88d4aa25e8acd467299757ad47273b93cfb4e6ab20a7
+size 117164
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9dfe97eb9261f694707fe18f2d265856406099e9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a06f44fdf0a08dafb6b3a467873d42c6f09c78eb5d68ab2b3e007fd5b2766ff
+size 185364
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73280d50e9b9b6c3d91b5d36065625a7d55f4a61
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f1fcbd550a5b3925b31a49f314ae1517df7b6a302f349da3dbadb91d8314e2
+size 723324
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da77ad58872c2431e6d6a0294c4a7e496b551385
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4f3b5070bc49602e19359433e7c2e54624d1c8076d7d13d380483882b7f3bc
+size 618673
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1c4e28817f4c8d6e4753ea725c44b1d5e05590c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d40d221428c06bc8d9d48a98bb14964777fccccc4c926deb467f151b5db46481
+size 839760
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6e7eb39d0907c53f6691587bdbfe2797af31776
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71437d2143da95520f45e8f2f84d4bc08b689e5aba8640fdb1d5f85c168915ba
+size 456853
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b90a113abb038c6cd627ef4c167117ca5bc1fb1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72dd5026c7298659829974610ae0fc9027defb4a4276f6e1e2d00ebeac394f4
+size 524955
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da2a2a1a6d932d0dc5f353cdaa2815679d6214d9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef924a1b6538a484bc477d06501134d6163b79677eea16e7166b180b1894e808
+size 586790
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a63f793fdde5a4bb2ecb134de90d8bb7bf6469ec
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbbc6d1498b89e6b4a6b8b8f7d1ce69412484f0851c90becda62c41f38bdfdc2
+size 408918
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3bbc266024a3d6422ac5d808ac8c06909bc44af
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0272132d6d4e5f04caf8a97076ff13f412e09e3b98422da88a670057d23f46
+size 465250
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1975114732f8d4bf2a389359252190749451a16
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec0c736438974f753bf80a93941e59ed4d343aa9c3c95879baf52dad9181b7f
+size 509654
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb1d933b3d7bbb0f12a0975df4482dd220e2d64
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4121284d953e9cfb3fd6e31a20307cb1209c2960a873068462638dc0715820ac
+size 542305
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49baa579836a117a45d680c68991700f91c1f29a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0162c200d1f6a59f9df54d4690b1c3fe6300f7e290fe803e32ba26b9c72c7c1f
+size 500412
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ff513b2a986a5baf29af609ff90879d0b192518
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3ed4f95e2256c15eea8d90df0437d46f5a419589b33e1fb0ccd1e9e45fe686
+size 701246
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c603ba79f657cb73109515d9c242bff9964c64f1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03b746437c978a52ced37ddf8af046955ed0dff62fb751083955537c9c2c858
+size 678676
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..338affa52a8a9ebed92a9db0cf5e70469c88bf51
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002b4749dad5c68a238354e9bf5a1ed64a8cceeb0ce71cb555c5f39a4cab0cbf
+size 776819
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7d7573a31e2c1c3c2253ea2b0a03f36c12ae92d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:105a8eb8c5bbd641745198db9f7064cecc3b220c6f19870389740cdc07b3614f
+size 1158831
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed359aa122e530a5d5cc0bcb89c183a26771453d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3792cdf6aec9df267f8ae94ecf53a1b3bab478767a61d84cb10dd2d635d303eb
+size 106819
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..299a801432fcda3ad9dc36d2b4554916c32e62d3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f9cd724ef628f0ba3fc27fe4cbdb77664ba6a7f53c60820d99aba8b9419f7d
+size 147805
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2eb0039025b69d9e0662b1eff52b35788c70f1f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dea89e7077d5583f44af8c257c6cf8961a167a1e1798a0c0726e8531b6483b2
+size 197994
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eff338ba152c4a1423a3eac46e80e1d34d270a1b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732b9ed493325b39aa7d2992905a9ddacc892929fd1ba505ee7772f0a4796a08
+size 662581
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f43e2836b718d096934f8e0fa5aa3eb449fa7af3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a91823e3ea688ba5c27f1d16684b564f2b981e4ae8d500bedd3db3695edcd19
+size 714020
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6531fa728e41f699452acad9f4fdbf85d167a98
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693338ac2724fe80706862ac97be63ef5bdb006b284566a0f1796047297126dc
+size 900273
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66994a3e72795c37cf601fd96675d41e2f88bb9a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6345c771004c4d3b167bcabf578cf1d55e23ce59f2003cea0ba4922befc1fe86
+size 509268
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91b7fc2a8e0a818e2be070b9d0a24fe6cd1c8fff
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56319dd37acb06e3249ef4d09f04b92fe9ea9f369e8bbd252bb31e065c34cf52
+size 467478
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00620f4f54ff9f8cedb1cd6ba657aff7c7a39d72
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c87c8c231c181d43ed31cb3a7524d492c5396394cbfe940fe94c0856651c3be
+size 442822
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98108c4455dac8aa0ec797a33eac8105e72ce505
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6cf06e1a2f6cc35684e1dee578e4124f6e70f9f3a26a4cd73ce81bd3a656da
+size 410921
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29c561bb668d8ea273d7c0c9226e3639e951d816
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff63e7f399cb2f9208e909cd29df6a97ac1e432902054552d92c976e4f96fa7
+size 591763
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a783534790c815ef779062bf610678ed9b88e2a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a442bed5dd3b5c72f65006d6bfd73fc0f38faf7d69ce04bc2a4b1e9ca07fb35a
+size 527996
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9c43e97b504c381fc5eaeda011d4a87b3aff84c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c237c17087c388af5b417d678fa849531121d8e38bad87bed68f305c383f2840
+size 823374
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2e7f2b7c2b573ed19cad9d2f81470343e776be1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d377ec27eafa3658d7503033b9f7aa9ccf7e060101d2f112df683f94004ca3d3
+size 700588
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c661ee7e3de81197a85572f2183129bda4d705b6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e9eb810e13e3cdb1a28dc82d775fe2c8462af0ae33bd94d2194b2befa266a1
+size 152295
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11daaeca4bc8006198e15aa7efdbdf51a911d806
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ebef2d5ec207bd11c4701af87d7d28314aeeb5db39a70e77b83d3cba4c8a3f
+size 139627
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62fdab78a4bfef39c869a0ecd4e137cf5bf82af7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7eddcc239f448cdf3f849cf8af631aabd8519261186bd8987311fe3e710f712
+size 798573
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29cbd901672b522a88763927a0eb49a69c3a901b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2470b91f0e67b0a80cd96c3ceedb7bf4629f83e24a7f284d4a3139ee3f4f8557
+size 604256
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13e531ca786f63521570d6a3b8e9e09540ad1d89
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87519afa49ad1275ec9cf3039e08aa5338fd055abae8f8b081eed1a092fa2b3c
+size 601622
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3bbc35df79f38101e21569d33ddf28fe3c45bbc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:130b7a55cc7ba4e274c74dcb213be9c1c365897743ff6ecf414bc636def6d373
+size 690606
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a16d8497da264cfb2e770420dd76c47997758e64
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68287ed8a562edb0b1364417e9522ad62370b86a708b0dd6193b2c8b45467c75
+size 521172
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..027ae4768fdb6d6c7bfc2ae67ea08669bbac0394
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8706a2c37f20ae005b7d76ed06c1d8953ea25cd59ecff181d85da615bf02d16b
+size 561682
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcd760620bbd001fb880d8a08db0aa6578716446
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d9eaa76f05cb6ceec6f5bfcd936b00ceccbd166d2e2e7b6176ee6406302657
+size 692592
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d95073a908efbed859488024479a0b1f7a818367
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cac001a8c868b4b8bd5a1eb911e0a98be3a3cf80e69c0f8fc5c9daac8a82253
+size 624309
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2b5c0c210c95198db3bd739ff4ed61708ed8bf1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0c302c0f49ab5e0c56cf23e9dd43fbef0c4dfcedbf493a01ce3c249a0f6f0d
+size 1022805
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..777c9d7bc4952df39860c4552844e39bea01aac1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7c0e86228d045f7a6d74d9625bb59b94900cf24d652d6d3845ba6ef6d77c59
+size 1073542
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9ad426710e579467c9c62e61eb7e370e2c3c716
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a493808431207d794308a57aa1a01cf9a9a059efcc2a14b604c6160f505d798
+size 136766
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cce0cb8dfc6e68a94289f67f53ff77a245101c8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4de5ffb055c5305b0a1f92d7f85a392fce88f63091ecc434263a10d41982cda
+size 172809
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e46890b60cc6d0591877efaa2e7703c8ea6b38f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1db258ec4792d4953b9bf18a9f3d830284fd7dcc068af46fcaf3dc4c9649fbe
+size 666489
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbfa191366f0daff4c4d8daf949dec76c7b90b7c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd5f7b3a0ee5aa5881253166ab9fc96a2611c2b24e3fa7071de654150b47f8c1
+size 640685
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7c609de20f44959c3222586fbe44edc86d55e15
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2c430172a32c9a9023d4545bc572bece33f16b46be2b7d54fa0d47f5fe1f37
+size 495013
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..601797c60f0938cd02063545005892700434a4b9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11af72b4f66db7a4a13fd0c9a55fbef0cce293377c8b3017030ef1a26715dec8
+size 463480
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cacea6aeb1c30ae7e94183a96a1eba0d3344be1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05a6322e8419fbd526afc30abea63320930a26bfa3889ea50dbafd34462b4ac
+size 436291
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7be2a67c7728125930956c807e2f62bd149fc789
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:706079f1e2b1842e82b6a1a390099993c11cf4f4a6eb3f7495dc4a1fccd24afd
+size 400913
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99614fb2804ee946c704067fec64783772a113d3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8816e779150ebcf933dcfed6b9bef817bbf4506023a56df1ff736150bbb7f2ef
+size 624136
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0dd7c38cc40f4eca8fc4df41d290834a5ac651ad
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ec817e40e2ad847d898e2c441fa8818ee2261783cfdb2013c39867f6a7b766
+size 513178
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90135ce144fccb2a36dd95ea73a9ce5976b2fd77
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cde6b8376fe454700769b10f33288560238fb82ddc4c0ee9dc6524ff8c1bc8
+size 1003001
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f59066d6536aa6b7683e57e0be483e3cd9f87f22
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c686b8c0e0afac0997ea1b842d75953cc89aea10636c10b19a72ef577de61ced
+size 835056
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71cd5305486f0cff78f31764c5cff545f32070bd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba56706d1906f492bedb7c930450fa89e46a8618adc3197482591d428df9ac2
+size 165799
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6886dc01462526c4f3a9d1349d41cd8f71a3fd79
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f350b1f5ce06200a9f4d55356ca24647a0b103f9052b4337b871b1afdb61941c
+size 130567
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d472c742d8e6fc0f37bf80dba9cf5ab836688cb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587c74c8141240c6c3fe2531f842c7276becf70f47f78df5f42e726431e706e1
+size 682107
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a93642a453221e46673e2e541ef2b5e4342d7c92
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d91c0ceb56b349b45a301df54bdb3ff48707c1afcd962f3bec9ef38b3d2f27
+size 647260
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac7dffd2f20824f0b31f2894272fae70f22a918e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76803d518b1a99433f8320adc8d24155623d0efd3228766e6560b9ea6c104fa2
+size 466343
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..134ca551b06bec1778a098ce8b4d6ce9d9252ed9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39610d0f7bb911e1a15157afe871435701ba475c43ae95923dbf8854ae25b642
+size 443126
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f5f185f87067042ecede1bc7b7131fcb55cdf14
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ce7545b75f460b67f8533f488f058712eb5187b26c948c5536db9b6610cbf8
+size 399470
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4501e5341dff325a351795428aa6d7c59eb52f24
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1aa8a04c6d0254fb29d6ff84dc0b2b76f854085d1d853f7a4c99347ff152e5
+size 400918
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4f0ba497a409440ce41b2272fd8c1424078708a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa802b45958fb36f8ae58b589c31d04fd24513973362f456f9514c71bca45e67
+size 525886
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0df71adb45450b80c14fd91fb8bdad605232c403
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9016bc1d1ab89af280f603d00119fdfccaeb30111e6496e1d7619a47a29dc61e
+size 547009
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1b5efc9e4c1c76be7db6a80aade76138e1566f0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d662ee7aa28fa6f0cbab4509b66f995bb25d32cf4dea3a45103de36c59999a
+size 826680
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36244478bcfc33cc8dd03a09e6951a0b1bf894df
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e433f97e0b5b3c620563d34f5dac724f2aebacf13c571a14394ea2801aede36b
+size 709972
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84878cb634d9ea19df818eca10fad9c29fc702de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b37ede10c57f25a6ce911b2cde866e800ea579ecc004c565000e682bac3c4c
+size 147211
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d92d72004c329224cc22a97c03fd9a17fd642e0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d6e33338a84665a9e2b85caf2d20e7084efac7b5c6d3e6351d1dac07396154
+size 117305
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26805610abdb7fa207781b8ce4925e2bf3eccc14
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9668e0058f02263f7aedc5d6b912a600c110995dc9249ce6179d9fdcc1d3e845
+size 816630
diff --git a/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d751c1960fc0b87c1dbe051ae38c2fc8f0c89cae
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/episode_00000017_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:633d2f2d656b59811c2e847c5c5288d3116aecda662b31c2415db041ebf7c5dc
+size 650269
diff --git a/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154234.pkl b/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154234.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0762032ae88781bbdfffa7320ddf3542249c848c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154234.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4aff644c14a09a4dc33d0d0bd29b9b0cea4863ca8962e50d7a48ed3a5d240c
+size 8146
diff --git a/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154235.pkl b/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154235.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bdfab47934c9ffbb970eca19ab7fcff64755d13f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/experiment_config_20260513_154235.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a668fbef0b0509cacb986e508910feee1ad5b3b6da48c75584a11c6446b107
+size 8146
diff --git a/3drawers/sim_chunks/chunk_001/running_log.log b/3drawers/sim_chunks/chunk_001/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..c946f78719aff4a4d106e55dda53e071f71913f6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/running_log.log
@@ -0,0 +1,16516 @@
+05/13 15:42:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 15:42:34 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 15:42:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 15:42:34 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_001'),
+ '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 0x7ac360744e10>,
+ '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': 20003,
+ '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 15:42:34 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 15:42:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 15:42:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 15:42:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 15:42:34 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 15:42:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 15:42:34 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_001'),
+ '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 0x7091378ca350>,
+ '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': 20002,
+ '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 15:42:34 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 15:42:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 15:42:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 15:42:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 15:42:35 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 15:42:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 15:42:35 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_001'),
+ '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 0x74d57714e150>,
+ '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': 20001,
+ '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 15:42:35 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 15:42:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 15:42:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 15:42:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 15:42:35 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 15:42:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 15:42:35 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_001'),
+ '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 0x7418f7d96150>,
+ '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': 20004,
+ '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 15:42:35 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 15:42:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 15:42:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 15:42:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 15:42:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 15:42:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 15:42:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 15:42:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 15:42:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 15:42:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 15:42:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 15:42:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 15:42:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 15:42:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 15:42:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 15:42:40 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 15:42:40 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 15:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:42:40 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 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119454m	[env.py: 870]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 15:42:40 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 15:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:42:40 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:40 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 15:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:42:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106009m	[env.py: 870]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:42:40 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 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141485m	[env.py: 870]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 15:42:40 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 15:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:42:40 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 15:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:42:40 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 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194467m	[env.py: 870]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:42:40 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 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01787695 -1.28249797 -0.19446678] yaw=-35.3deg	[env.py: 1019]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20740812 -1.22816084 -0.14148534] yaw=-26.8deg	[env.py: 1019]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=21.8ms, retries=341.1ms, total=362.9ms	[env.py: 1075]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.228, -0.141)	[env.py: 1079]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.8 deg	[env.py: 1082]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44654938 -1.01730862 -0.11945389] yaw=-35.5deg	[env.py: 1019]
+05/13 15:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:42:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=26.0ms, retries=401.5ms, total=427.5ms	[env.py: 1075]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.018, -1.282, -0.194)	[env.py: 1079]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg	[env.py: 1082]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:42:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=38.6ms, retries=482.2ms, total=520.9ms	[env.py: 1075]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -1.017, -0.119)	[env.py: 1079]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg	[env.py: 1082]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=21.1ms, retries=713.5ms, total=734.7ms	[env.py: 1105]
+05/13 15:42:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:42:41 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 15:42:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:42:41 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:42:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:42:41 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:42:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:42:41 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:42:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:42:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:42:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:42:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:42:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:42:42 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 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193857m	[env.py: 870]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:42:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66026297 -0.980324   -0.19385656] yaw=-74.0deg	[env.py: 1019]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57897157 -0.76566253 -0.19385656] yaw=-67.6deg	[env.py: 1019]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14332008 -1.390692   -0.19385656] yaw=-44.8deg	[env.py: 1019]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:42:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.6ms, total=206.6ms	[env.py: 1075]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.980, -0.194)	[env.py: 1079]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg	[env.py: 1082]
+05/13 15:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:42:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:42:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:42:42 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:43:15 INFO: [Worker 0] Warmed up parallel IK solver in 34.276s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:15 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 15:43:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:17 INFO: [Worker 0] Warmed up parallel IK solver in 36.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:17 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 15:43:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:17 INFO: [Worker 0] Warmed up parallel IK solver in 36.166s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:17 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 15:43:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:43:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.707[m] 75.636[deg]	[grasp_sample.py: 539]
+05/13 15:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 35.743s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:18 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 15:43:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:43:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:43:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:43:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:43:20 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.555[m] 100.590[deg]	[grasp_sample.py: 539]
+05/13 15:43:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:43:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.854s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:43:20 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:43:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:43:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:43:21 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 15:43:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:43:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:43:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:43:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:43:22 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 15:43:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:43:22 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 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112264m	[env.py: 870]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:43:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2010445  -1.37997481 -0.11226445] yaw=-49.2deg	[env.py: 1019]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:43:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms	[env.py: 1075]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -1.380, -0.112)	[env.py: 1079]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/13 15:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:43:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:43:22 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:43:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:22 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 15:43:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:43:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.684[m] 78.094[deg]	[grasp_sample.py: 539]
+05/13 15:43:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:43:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:43:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:43:24 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.649[m] 91.806[deg]	[grasp_sample.py: 539]
+05/13 15:43:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:43:25 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:43:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:43:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:43:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:43:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:43:27 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 15:43:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:43:27 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 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146073m	[env.py: 870]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:43:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4216922  -1.04308022 -0.14607254] yaw=-54.4deg	[env.py: 1019]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91842858 -0.87910322 -0.14607254] yaw=-102.2deg	[env.py: 1019]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80697456 -0.73015738 -0.14607254] yaw=-78.4deg	[env.py: 1019]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.2ms, total=196.3ms	[env.py: 1075]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -1.043, -0.146)	[env.py: 1079]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 15:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:43:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:43:27 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:43:27 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 15:43:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:43:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.631[m] 88.613[deg]	[grasp_sample.py: 539]
+05/13 15:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:43:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:43:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:44:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 15:44:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:44:24 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 15:44:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:44:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 186 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:44:24 INFO: [Worker 0] Feasibility-checked 186 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:44:24 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.062[m] 0.432[deg]	[grasp_sample.py: 539]
+05/13 15:44:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 15:44:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:44:41 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 15:44:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:44:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 168 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:44:42 INFO: [Worker 0] Feasibility-checked 168 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:44:42 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.070[m] 3.981[deg]	[grasp_sample.py: 539]
+05/13 15:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:44:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:44:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:44:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:45:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 15:45:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:45:07 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 15:45:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 205 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:45:07 INFO: [Worker 0] Feasibility-checked 205 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:45:07 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.063[m] 0.822[deg]	[grasp_sample.py: 539]
+05/13 15:45:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:45:12 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:45:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:45:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:45:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:45:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:45:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 15:45:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.54s:
+  episode_total: mean=85.44s, total=170.88s, count=2, min=6078.4ms, max=164801.1ms
+  sensor_polling: mean=378.7ms, total=113.60s, count=300, min=352.8ms, max=578.2ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=17.1ms, max=62.6ms
+  task_sampling_failed: mean=6.08s, total=6.08s, count=1, min=6078.4ms, max=6078.4ms
+  scene_load: mean=5.33s, total=5.33s, count=1, min=5333.2ms, max=5333.2ms
+  scene_env_create: mean=3.21s, total=3.21s, count=1, min=3214.1ms, max=3214.1ms
+  scene_compile: mean=1.91s, total=1.91s, count=1, min=1913.0ms, max=1913.0ms
+  task_specific_sample: mean=639.6ms, total=1.28s, count=2, min=538.2ms, max=741.1ms
+  compile_mujoco: mean=966.4ms, total=966.4ms, count=1, min=966.4ms, max=966.4ms
+  compile_xml_load: mean=817.6ms, total=817.6ms, count=1, min=817.6ms, max=817.6ms
+  task_sampling: mean=540.8ms, total=540.8ms, count=1, min=540.8ms, max=540.8ms
+  scene_init: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms
+  scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=432.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.4us, 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 15:45:28 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:45:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:45:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:45:29 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 15:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147088m	[env.py: 870]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27655723 -1.10976695 -0.14708775] yaw=-57.8deg	[env.py: 1019]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73618805 -0.77686547 -0.14708775] yaw=-81.7deg	[env.py: 1019]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13055082 -1.42646437 -0.14708775] yaw=3.5deg	[env.py: 1019]
+05/13 15:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:45:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=366.5ms, total=366.5ms	[env.py: 1075]
+05/13 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.110, -0.147)	[env.py: 1079]
+05/13 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/13 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:45:30 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:45:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.180s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:45:30 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 15:45:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:45:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:45:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.307s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:45:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.677[m] 87.811[deg]	[grasp_sample.py: 539]
+05/13 15:45:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:45:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:45:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:45:36 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 15:45:36 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/13 15:45:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:45:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 15:45:49 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 15:45:51 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:45:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 15:45:51 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 15:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:45:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:45:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.98s (batch: 4.67s, save: 10.31s)	[pipeline.py: 300]
+05/13 15:45:52 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.53s:
+  episode_total: mean=197.57s, total=197.57s, count=1, min=197568.1ms, max=197568.1ms
+  sensor_polling: mean=377.9ms, total=104.69s, count=277, min=363.5ms, max=627.8ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10305.3ms, max=10305.3ms
+  task_sampling: mean=6.53s, total=6.53s, count=1, min=6531.5ms, max=6531.5ms
+  physics_step: mean=22.9ms, total=6.34s, count=277, min=19.1ms, max=30.6ms
+  scene_load: mean=5.64s, total=5.64s, count=1, min=5639.0ms, max=5639.0ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.5ms, max=4672.5ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3088.9ms, max=3088.9ms
+  scene_compile: mean=2.32s, total=2.32s, count=1, min=2319.1ms, max=2319.1ms
+  compile_xml_load: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=1.07s, total=1.07s, count=1, min=1066.5ms, max=1066.5ms
+  task_specific_sample: mean=887.8ms, total=887.8ms, count=1, min=887.8ms, max=887.8ms
+  scene_init: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_aux_policy_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  asset_install_objects: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms
+  asset_install_scene: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=424.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=51.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/13 15:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:45:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:45:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:45:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:45:53 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 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187147m	[env.py: 870]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2207639  -0.94823129 -0.18714729] yaw=-47.3deg	[env.py: 1019]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1976987  -1.41917898 -0.18714729] yaw=-38.4deg	[env.py: 1019]
+05/13 15:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:45:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.0ms, total=234.1ms	[env.py: 1075]
+05/13 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -0.948, -0.187)	[env.py: 1079]
+05/13 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/13 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:45:54 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:45:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:45:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:45:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:45:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:45:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.607s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:45:57 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:45:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:45:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:45:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:45:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:45:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:45:58 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 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101329m	[env.py: 870]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:45:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4352462  -0.98702664 -0.10132927] yaw=-32.8deg	[env.py: 1019]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29954904 -1.09492169 -0.10132927] yaw=-57.1deg	[env.py: 1019]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3013655  -1.03441664 -0.10132927] yaw=-69.3deg	[env.py: 1019]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:45:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=270.2ms, total=270.3ms	[env.py: 1075]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -0.987, -0.101)	[env.py: 1079]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/13 15:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:45:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:45:59 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:45:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:45:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:45:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.756[m] 78.313[deg]	[grasp_sample.py: 539]
+05/13 15:46:03 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:46:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:46:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:46:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.73s (batch: 4.13s, save: 10.60s)	[pipeline.py: 300]
+05/13 15:46:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:04 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 15:46:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158688m	[env.py: 870]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63426872 -0.78297488 -0.15868763] yaw=-55.1deg	[env.py: 1019]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=6.81s:
+  episode_total: mean=104.13s, total=208.26s, count=2, min=45477.9ms, max=162782.5ms
+  sensor_polling: mean=412.7ms, total=112.67s, count=273, min=384.8ms, max=618.3ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10601.6ms, max=10601.6ms
+  task_sampling: mean=3.40s, total=6.81s, count=2, min=501.3ms, max=6306.5ms
+  physics_step: mean=24.7ms, total=6.73s, count=273, min=16.4ms, max=34.7ms
+  scene_load: mean=5.49s, total=5.49s, count=1, min=5489.1ms, max=5489.1ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4127.3ms, max=4127.3ms
+  scene_env_create: mean=3.23s, total=3.23s, count=1, min=3232.0ms, max=3232.0ms
+  scene_compile: mean=2.07s, total=2.07s, count=1, min=2066.8ms, max=2066.8ms
+  task_specific_sample: mean=656.1ms, total=1.31s, count=2, min=498.5ms, max=813.7ms
+  compile_xml_load: mean=959.9ms, total=959.9ms, count=1, min=959.9ms, max=959.9ms
+  compile_mujoco: mean=946.2ms, total=946.2ms, count=1, min=946.2ms, max=946.2ms
+  scene_init: mean=127.2ms, total=127.2ms, count=1, min=127.2ms, max=127.2ms
+  compile_aux_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  compile_aux_policy_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  scene_asset_install: mean=62.8ms, total=62.8ms, count=1, min=62.8ms, max=62.8ms
+  compile_robot_add: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  asset_install_grasps: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_scene: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.4ms, max=1.9ms
+  mj_forward_sync: mean=434.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=41.9us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20008979 -1.05152983 -0.15868763] yaw=-56.3deg	[env.py: 1019]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.3ms	[env.py: 1075]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.783, -0.159)	[env.py: 1079]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg	[env.py: 1082]
+05/13 15:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:05 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:05 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 15:46:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:46:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:46:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.05s (batch: 4.20s, save: 9.84s)	[pipeline.py: 300]
+05/13 15:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:06 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 15:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:06 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 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165068m	[env.py: 870]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29281415 -1.13625689 -0.16506841] yaw=-20.8deg	[env.py: 1019]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:06 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=6.86s:
+  episode_total: mean=104.85s, total=209.70s, count=2, min=50701.9ms, max=158999.5ms
+  sensor_polling: mean=397.7ms, total=103.81s, count=261, min=371.3ms, max=608.2ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9843.7ms, max=9843.7ms
+  task_sampling: mean=3.43s, total=6.86s, count=2, min=500.7ms, max=6363.9ms
+  physics_step: mean=23.4ms, total=6.10s, count=261, min=17.2ms, max=31.6ms
+  scene_load: mean=5.59s, total=5.59s, count=1, min=5590.8ms, max=5590.8ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4203.0ms, max=4203.0ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3085.9ms, max=3085.9ms
+  scene_compile: mean=2.31s, total=2.31s, count=1, min=2306.6ms, max=2306.6ms
+  task_specific_sample: mean=633.1ms, total=1.27s, count=2, min=496.7ms, max=769.6ms
+  compile_mujoco: mean=1.09s, total=1.09s, count=1, min=1087.9ms, max=1087.9ms
+  compile_xml_load: mean=1.08s, total=1.08s, count=1, min=1075.4ms, max=1075.4ms
+  scene_init: mean=137.1ms, total=137.1ms, count=1, min=137.1ms, max=137.1ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  compile_robot_add: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  asset_install_grasps: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.6ms, max=2.1ms
+  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=57.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57389042 -0.87437406 -0.16506841] yaw=-65.1deg	[env.py: 1019]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6901649  -0.83499924 -0.16506841] yaw=-55.7deg	[env.py: 1019]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.0ms, total=130.0ms	[env.py: 1075]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.136, -0.165)	[env.py: 1079]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.8 deg	[env.py: 1082]
+05/13 15:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:06 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:06 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 15:46:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:08 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 15:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:08 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 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193330m	[env.py: 870]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39730617 -0.96364798 -0.19333043] yaw=-34.0deg	[env.py: 1019]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35784094 -0.95795986 -0.19333043] yaw=-51.0deg	[env.py: 1019]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.0ms, total=264.0ms	[env.py: 1075]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.964, -0.193)	[env.py: 1079]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.0 deg	[env.py: 1082]
+05/13 15:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:08 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:08 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 15:46:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.929s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:09 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.636[m] 88.172[deg]	[grasp_sample.py: 539]
+05/13 15:46:11 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:46:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:11 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.710[m] 89.997[deg]	[grasp_sample.py: 539]
+05/13 15:46:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:46:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:46:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:12 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 15:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:12 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 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114713m	[env.py: 870]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01136113 -1.35711613 -0.11471325] yaw=-48.8deg	[env.py: 1019]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.7ms, total=227.8ms	[env.py: 1075]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.357, -0.115)	[env.py: 1079]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg	[env.py: 1082]
+05/13 15:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:12 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:12 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 15:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:46:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.229s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:14 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.769[m] 83.986[deg]	[grasp_sample.py: 539]
+05/13 15:46:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.715s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:46:15 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:46:15 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:17 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 15:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:17 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 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199471m	[env.py: 870]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:17 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 15:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:17 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 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177272m	[env.py: 870]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.92544444 -0.90166201 -0.19947064] yaw=-73.1deg	[env.py: 1019]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=276.7ms, total=276.8ms	[env.py: 1075]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.925, -0.902, -0.199)	[env.py: 1079]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg	[env.py: 1082]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07176409 -1.36298921 -0.177272  ] yaw=5.0deg	[env.py: 1019]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.79112138 -0.6701268  -0.177272  ] yaw=-55.9deg	[env.py: 1019]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=425.2ms, total=425.3ms	[env.py: 1075]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -1.363, -0.177)	[env.py: 1079]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 5.0 deg	[env.py: 1082]
+05/13 15:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:17 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:17 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 15:46:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:17 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:18 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 15:46:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:19 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.628[m] 96.383[deg]	[grasp_sample.py: 539]
+05/13 15:46:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:46:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:46:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:46:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.649s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:46:20 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:22 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 15:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:22 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 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173978m	[env.py: 870]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0022643  -1.36500847 -0.17397818] yaw=-48.2deg	[env.py: 1019]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=361.4ms, total=361.4ms	[env.py: 1075]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.002, -1.365, -0.174)	[env.py: 1079]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/13 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:22 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:46:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.541s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:46:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118910m	[env.py: 870]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=316.3ms, total=316.4ms	[env.py: 1105]
+05/13 15:46:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:46:27 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 15:46:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:28 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 15:46:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:28 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 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184614m	[env.py: 870]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01359235 -1.30931882 -0.18461431] yaw=-20.6deg	[env.py: 1019]
+05/13 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.9ms, total=270.0ms	[env.py: 1075]
+05/13 15:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.014, -1.309, -0.185)	[env.py: 1079]
+05/13 15:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.6 deg	[env.py: 1082]
+05/13 15:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/13 15:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:29 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:29 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 15:46:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.583s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:46:32 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:46:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:46:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:46:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:46:33 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 15:46:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:46:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126356m	[env.py: 870]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:46:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60507597 -0.92642689 -0.12635596] yaw=-46.5deg	[env.py: 1019]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46251575 -1.03280186 -0.12635596] yaw=-76.9deg	[env.py: 1019]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40975391 -1.10229671 -0.12635596] yaw=-43.6deg	[env.py: 1019]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:46:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms	[env.py: 1075]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.926, -0.126)	[env.py: 1079]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg	[env.py: 1082]
+05/13 15:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:46:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:46:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:46:34 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:46:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:46:34 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 15:46:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:40 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.685[m] 87.217[deg]	[grasp_sample.py: 539]
+05/13 15:46:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:46:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:46:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:41 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 15:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 15:46:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:46:48 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 15:46:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:46:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.252s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:46:50 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.505[m] 71.110[deg]	[grasp_sample.py: 539]
+05/13 15:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:46:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:46:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 15:47:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:47:03 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 15:47:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:47:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:47:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:47:05 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.505[m] 71.110[deg]	[grasp_sample.py: 539]
+05/13 15:47:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:47:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:47:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 15:47:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:47:18 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 15:47:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:47:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:47:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:47:20 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.505[m] 71.110[deg]	[grasp_sample.py: 539]
+05/13 15:47:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:47:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:47:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:47:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 15:47:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 15:47:33 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 15:47:33 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=2.22s:
+  episode_total: mean=23.89s, total=95.56s, count=4, min=3382.0ms, max=76151.5ms
+  sensor_polling: mean=410.2ms, total=28.31s, count=69, min=368.3ms, max=633.6ms
+  task_sampling: mean=555.6ms, total=2.22s, count=4, min=533.2ms, max=596.3ms
+  task_specific_sample: mean=552.2ms, total=2.21s, count=4, min=529.0ms, max=593.0ms
+  physics_step: mean=21.2ms, total=1.46s, count=69, min=14.4ms, max=56.0ms
+  scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=470.7us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=24.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:47:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:47:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:47:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:47:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:47:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:47:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:47:34 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 15:47:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:47:34 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 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129454m	[env.py: 870]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:47:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07810758 -1.30170734 -0.12945385] yaw=-31.2deg	[env.py: 1019]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=285.3ms, total=285.4ms	[env.py: 1075]
+05/13 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.078, -1.302, -0.129)	[env.py: 1079]
+05/13 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.2 deg	[env.py: 1082]
+05/13 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/13 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:47:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:47:35 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:47:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:47:35 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 15:47:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:47:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:47:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.575s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:47:38 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:47:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:47:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:47:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:47:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:47:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:47:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:47:39 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 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117196m	[env.py: 870]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:47:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55386867 -1.0160918  -0.11719603] yaw=-48.0deg	[env.py: 1019]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21409287 -1.33945801 -0.11719603] yaw=-27.5deg	[env.py: 1019]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=247.8ms, total=247.9ms	[env.py: 1075]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -1.016, -0.117)	[env.py: 1079]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:47:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:47:40 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:47:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:47:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:47:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:47:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:47:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.199s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:47:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.627[m] 83.575[deg]	[grasp_sample.py: 539]
+05/13 15:47:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:47:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:47:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:47:42 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 15:47:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:47:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:47:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 15:47:53 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 15:47:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:48:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:48:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.86s (batch: 6.21s, save: 9.65s)	[pipeline.py: 300]
+05/13 15:48:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.71s:
+  episode_total: mean=159.87s, total=159.87s, count=1, min=159868.8ms, max=159868.8ms
+  sensor_polling: mean=390.0ms, total=103.73s, count=266, min=357.4ms, max=774.5ms
+  save_trajectories: mean=9.65s, total=9.65s, count=1, min=9649.4ms, max=9649.4ms
+  physics_step: mean=24.1ms, total=6.40s, count=266, min=20.9ms, max=63.7ms
+  save_batch_prep: mean=6.21s, total=6.21s, count=1, min=6206.3ms, max=6206.3ms
+  task_sampling: mean=711.0ms, total=711.0ms, count=1, min=711.0ms, max=711.0ms
+  task_specific_sample: mean=706.6ms, total=706.6ms, count=1, min=706.6ms, max=706.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.4us, 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 15:48:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:48:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:48:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:48:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:48:11 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 15:48:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:48:11 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 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159777m	[env.py: 870]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:48:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=354.9ms, total=354.9ms	[env.py: 1105]
+05/13 15:48:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:48:11 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 15:48:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:48:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:48:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:48:13 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 15:48:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:48:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128664m	[env.py: 870]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:48:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10708822 -1.10104472 -0.12866378] yaw=-32.1deg	[env.py: 1019]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.304642   -0.85293623 -0.12866378] yaw=-46.0deg	[env.py: 1019]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:48:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=326.9ms, total=327.0ms	[env.py: 1075]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -1.101, -0.129)	[env.py: 1079]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.1 deg	[env.py: 1082]
+05/13 15:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:48:13 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:48:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:48:13 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 15:48:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:48:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 371 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:48:14 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:48:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.616s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:48:16 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:48:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:48:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:48:18 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 15:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:48:18 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 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129137m	[env.py: 870]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36182973 -1.04676744 -0.12913712] yaw=-24.0deg	[env.py: 1019]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79264766 -0.81793448 -0.12913712] yaw=-90.2deg	[env.py: 1019]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:48:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=332.8ms, total=332.9ms	[env.py: 1075]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.047, -0.129)	[env.py: 1079]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.0 deg	[env.py: 1082]
+05/13 15:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:48:19 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:48:19 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 15:48:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:48:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:48:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:48:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.698[m] 83.895[deg]	[grasp_sample.py: 539]
+05/13 15:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:48:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:48:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:48:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 15:48:39 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 15:48:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:48:44 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:48:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:48:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:48:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:48:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.48s (batch: 4.26s, save: 10.22s)	[pipeline.py: 300]
+05/13 15:48:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.56s:
+  episode_total: mean=166.20s, total=166.20s, count=1, min=166199.6ms, max=166199.6ms
+  sensor_polling: mean=404.7ms, total=113.32s, count=280, min=381.1ms, max=693.9ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10217.0ms, max=10217.0ms
+  physics_step: mean=23.7ms, total=6.63s, count=280, min=21.3ms, max=58.2ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.5ms, max=4261.5ms
+  task_sampling: mean=559.2ms, total=559.2ms, count=1, min=559.2ms, max=559.2ms
+  task_specific_sample: mean=555.3ms, total=555.3ms, count=1, min=555.3ms, max=555.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.6us, 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 15:48:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:48:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:48:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:48:55 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 15:48:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:48:55 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 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115627m	[env.py: 870]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:48:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23933075 -1.06403017 -0.11562679] yaw=-40.1deg	[env.py: 1019]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:48:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.2ms, total=288.3ms	[env.py: 1075]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -1.064, -0.116)	[env.py: 1079]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg	[env.py: 1082]
+05/13 15:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:48:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:48:56 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:48:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:48:56 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 15:48:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:49:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 15:49:08 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 15:49:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.314s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:49:18 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 15:49:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:49:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:49:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:49:20 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 15:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:49:20 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 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194685m	[env.py: 870]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48202979 -0.97793378 -0.19468487] yaw=-48.9deg	[env.py: 1019]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44416937 -0.76471717 -0.19468487] yaw=-56.1deg	[env.py: 1019]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=474.3ms, total=474.4ms	[env.py: 1075]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.978, -0.195)	[env.py: 1079]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg	[env.py: 1082]
+05/13 15:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:49:20 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:49:21 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 15:49:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:49:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:49:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:49:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.21s (batch: 4.08s, save: 10.13s)	[pipeline.py: 300]
+05/13 15:49:22 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=3.31s:
+  episode_total: mean=26.89s, total=188.23s, count=7, min=328.7ms, max=169434.6ms
+  sensor_polling: mean=412.5ms, total=113.44s, count=275, min=374.0ms, max=667.7ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10128.6ms, max=10128.6ms
+  physics_step: mean=23.8ms, total=6.55s, count=275, min=16.9ms, max=55.7ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4081.7ms, max=4081.7ms
+  task_specific_sample: mean=515.7ms, total=3.61s, count=7, min=322.4ms, max=715.9ms
+  task_sampling: mean=551.4ms, total=3.31s, count=6, min=418.0ms, max=719.9ms
+  task_sampling_failed: mean=328.6ms, total=328.6ms, count=1, min=328.6ms, max=328.6ms
+  scene_randomize: mean=1.9ms, total=13.3ms, count=7, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=470.1us, total=3.3ms, count=7, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.1us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:49:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:49:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.635[m] 87.738[deg]	[grasp_sample.py: 539]
+05/13 15:49:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:49:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:49:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:49:24 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 15:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:49:24 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 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130712m	[env.py: 870]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:49:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:49:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=246.4ms, total=246.5ms	[env.py: 1105]
+05/13 15:49:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:49:24 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 15:49:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:49:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:49:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:49:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:49:26 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 15:49:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:49:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158721m	[env.py: 870]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:49:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82410305 -0.76372432 -0.15872106] yaw=-103.3deg	[env.py: 1019]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:49:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.3ms, total=212.4ms	[env.py: 1075]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.824, -0.764, -0.159)	[env.py: 1079]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.3 deg	[env.py: 1082]
+05/13 15:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:49:26 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:49:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:49:26 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 15:49:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:49:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:49:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:36 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:49:37 INFO: [Worker 0] Object is not in grasp! 0.00106 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 15:49:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:49:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:49:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:49:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 153 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:38 INFO: [Worker 0] Feasibility-checked 153 grasps in 0.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:49:38 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 3.065[deg]	[grasp_sample.py: 539]
+05/13 15:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:49:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:49:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:49:41 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.755[m] 97.663[deg]	[grasp_sample.py: 539]
+05/13 15:49:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:42 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:49:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:49:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:49:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:49:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:49:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:49:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144931m	[env.py: 870]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:49:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18255872 -0.95864949 -0.14493096] yaw=-43.4deg	[env.py: 1019]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.74048156 -0.81864564 -0.14493096] yaw=-59.8deg	[env.py: 1019]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.064527   -1.21339711 -0.14493096] yaw=-11.0deg	[env.py: 1019]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:49:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms	[env.py: 1075]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -0.959, -0.145)	[env.py: 1079]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg	[env.py: 1082]
+05/13 15:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:49:44 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:49:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:49:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:49:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:49:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.532s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:49:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:49:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:49:48 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 15:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:49:48 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 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125072m	[env.py: 870]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33508945 -1.04312386 -0.12507177] yaw=-37.5deg	[env.py: 1019]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01532901 -1.24805286 -0.12507177] yaw=-31.5deg	[env.py: 1019]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45446258 -1.08922704 -0.12507177] yaw=-56.1deg	[env.py: 1019]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.2ms	[env.py: 1075]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.043, -0.125)	[env.py: 1079]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg	[env.py: 1082]
+05/13 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:49:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:49:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:49:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:49:49 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 15:49:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:49:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:49:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:49:51 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.695[m] 77.026[deg]	[grasp_sample.py: 539]
+05/13 15:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:49:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:49:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:49:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:50:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:50:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 15:50:00 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 15:50:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:50:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:50:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.71s (batch: 4.09s, save: 9.63s)	[pipeline.py: 300]
+05/13 15:50:14 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.07s:
+  episode_total: mean=79.34s, total=158.68s, count=2, min=3349.4ms, max=155334.7ms
+  sensor_polling: mean=393.5ms, total=103.10s, count=262, min=361.0ms, max=621.1ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9625.4ms, max=9625.4ms
+  physics_step: mean=24.3ms, total=6.38s, count=262, min=16.5ms, max=47.7ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
+  task_sampling: mean=535.5ms, total=1.07s, count=2, min=520.4ms, max=550.6ms
+  task_specific_sample: mean=531.6ms, total=1.06s, count=2, min=516.4ms, max=546.8ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.9ms, max=2.0ms
+  mj_forward_sync: mean=444.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:50:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:50:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:50:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:50:16 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 15:50:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:50:16 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 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133228m	[env.py: 870]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:50:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15700842 -1.25722243 -0.1332281 ] yaw=-31.3deg	[env.py: 1019]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=447.6ms, total=447.7ms	[env.py: 1075]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.157, -1.257, -0.133)	[env.py: 1079]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg	[env.py: 1082]
+05/13 15:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:50:17 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:50:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:50:17 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 15:50:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:50:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:50:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:50:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.712[m] 85.171[deg]	[grasp_sample.py: 539]
+05/13 15:50:22 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:50:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:50:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:50:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:50:24 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 15:50:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:50:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126027m	[env.py: 870]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:50:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2624121  -0.95722278 -0.1260268 ] yaw=-37.3deg	[env.py: 1019]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:50:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.8ms, total=229.8ms	[env.py: 1075]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -0.957, -0.126)	[env.py: 1079]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg	[env.py: 1082]
+05/13 15:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:50:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:50:24 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:50:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:50:24 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 15:50:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:50:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:50:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:50:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.585s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:50:27 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:50:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:50:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:50:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:50:28 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 15:50:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:50:28 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 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151539m	[env.py: 870]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:50:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42485899 -1.07134055 -0.15153945] yaw=-38.2deg	[env.py: 1019]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18657703 -1.45633294 -0.15153945] yaw=-47.8deg	[env.py: 1019]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=275.0ms, total=275.1ms	[env.py: 1075]
+05/13 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -1.071, -0.152)	[env.py: 1079]
+05/13 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg	[env.py: 1082]
+05/13 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/13 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:50:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:50:29 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:50:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:50:29 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 15:50:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:50:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:50:30 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:50:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:50:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.627[m] 88.298[deg]	[grasp_sample.py: 539]
+05/13 15:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:50:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:50:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:50:31 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 15:50:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:50:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:50:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:50:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:50:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 15:50:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 15:51:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:51:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:51:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:51:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:51:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.03s (batch: 4.00s, save: 11.03s)	[pipeline.py: 300]
+05/13 15:51:12 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.30s:
+  episode_total: mean=59.36s, total=178.09s, count=3, min=372.3ms, max=174235.2ms
+  sensor_polling: mean=390.2ms, total=117.07s, count=300, min=355.4ms, max=772.2ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11029.3ms, max=11029.3ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=17.0ms, max=45.7ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.3ms, max=3998.3ms
+  task_specific_sample: mean=552.3ms, total=1.66s, count=3, min=362.4ms, max=662.4ms
+  task_sampling: mean=650.8ms, total=1.30s, count=2, min=635.2ms, max=666.4ms
+  task_sampling_failed: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=456.9us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.1us, 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 15:51:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:14 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 15:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172252m	[env.py: 870]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04723798 -1.26035622 -0.17225151] yaw=-32.6deg	[env.py: 1019]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=515.1ms, total=515.2ms	[env.py: 1075]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.047, -1.260, -0.172)	[env.py: 1079]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.6 deg	[env.py: 1082]
+05/13 15:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:15 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:15 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 15:51:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.865s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:51:18 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:51:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:20 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 15:51:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:20 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 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183937m	[env.py: 870]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3479423  -0.94533936 -0.1839371 ] yaw=-33.0deg	[env.py: 1019]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30629247 -1.11901295 -0.1839371 ] yaw=-58.2deg	[env.py: 1019]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=425.6ms, total=425.7ms	[env.py: 1075]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.945, -0.184)	[env.py: 1079]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg	[env.py: 1082]
+05/13 15:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:20 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:20 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 15:51:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:51:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.049s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:51:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.758[m] 80.646[deg]	[grasp_sample.py: 539]
+05/13 15:51:26 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:51:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:27 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 15:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:27 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 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140124m	[env.py: 870]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79391833 -0.66441746 -0.14012388] yaw=-96.6deg	[env.py: 1019]
+05/13 15:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.68567184 -0.77560316 -0.14012388] yaw=-84.3deg	[env.py: 1019]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.5ms, total=228.6ms	[env.py: 1075]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.794, -0.664, -0.140)	[env.py: 1079]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.6 deg	[env.py: 1082]
+05/13 15:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/13 15:51:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:28 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:28 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 15:51:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:51:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.535s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:51:31 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:32 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 15:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:32 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 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125258m	[env.py: 870]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11245406 -1.35759043 -0.12525755] yaw=-3.3deg	[env.py: 1019]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78714401 -0.8922258  -0.12525755] yaw=-57.8deg	[env.py: 1019]
+05/13 15:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=248.6ms, total=248.7ms	[env.py: 1075]
+05/13 15:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.358, -0.125)	[env.py: 1079]
+05/13 15:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.3 deg	[env.py: 1082]
+05/13 15:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/13 15:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:33 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:33 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 15:51:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 367 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.216s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:51:37 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.720[m] 84.006[deg]	[grasp_sample.py: 539]
+05/13 15:51:39 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:51:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:51:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:40 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 15:51:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:40 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 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155529m	[env.py: 870]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1057848  -1.24055937 -0.15552889] yaw=-32.4deg	[env.py: 1019]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54601213 -0.96608394 -0.15552889] yaw=-81.0deg	[env.py: 1019]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=284.5ms, total=284.5ms	[env.py: 1075]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -1.241, -0.156)	[env.py: 1079]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg	[env.py: 1082]
+05/13 15:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:41 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:41 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 15:51:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:51:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.768s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:51:44 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:51:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:45 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 15:51:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:45 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 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177802m	[env.py: 870]
+05/13 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44688858 -0.79724494 -0.17780219] yaw=-69.7deg	[env.py: 1019]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17187375 -1.36976518 -0.17780219] yaw=-45.9deg	[env.py: 1019]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=416.2ms, total=416.3ms	[env.py: 1075]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -0.797, -0.178)	[env.py: 1079]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg	[env.py: 1082]
+05/13 15:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/13 15:51:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:46 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:46 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 15:51:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.605s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:51:49 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:51:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:51:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 15:51:50 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 15:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:51:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:51:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:51:51 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 15:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:51:51 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 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121284m	[env.py: 870]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2353292  -1.05761652 -0.121284  ] yaw=-30.3deg	[env.py: 1019]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1067738  -1.10776887 -0.121284  ] yaw=-40.7deg	[env.py: 1019]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=415.4ms, total=415.4ms	[env.py: 1075]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.058, -0.121)	[env.py: 1079]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.3 deg	[env.py: 1082]
+05/13 15:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:51:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:51:52 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:51:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:51:52 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 15:51:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:51:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 364 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:51:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.186s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:51:56 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.759[m] 98.285[deg]	[grasp_sample.py: 539]
+05/13 15:51:57 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:52:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:52:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:52:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:52:00 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 15:52:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:52:00 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 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192920m	[env.py: 870]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:52:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.89541602 -0.67376119 -0.19292047] yaw=-102.0deg	[env.py: 1019]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44655716 -0.98559752 -0.19292047] yaw=-83.8deg	[env.py: 1019]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.8ms, total=257.8ms	[env.py: 1075]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.895, -0.674, -0.193)	[env.py: 1079]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.0 deg	[env.py: 1082]
+05/13 15:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:52:00 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:52:00 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 15:52:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:52:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:52:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.656s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:52:03 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:52:03 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 15:52:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:52:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:52:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.36s (batch: 4.19s, save: 10.17s)	[pipeline.py: 300]
+05/13 15:52:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:52:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:52:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:52:05 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 15:52:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:52:05 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 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155930m	[env.py: 870]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:52:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44157243 -1.07527704 -0.15592974] yaw=-41.0deg	[env.py: 1019]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20770339 -1.0093128  -0.15592974] yaw=-19.3deg	[env.py: 1019]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:52:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.3ms	[env.py: 1075]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.075, -0.156)	[env.py: 1079]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg	[env.py: 1082]
+05/13 15:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 15:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:06 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.38s:
+  episode_total: mean=94.55s, total=189.11s, count=2, min=23196.8ms, max=165909.5ms
+  sensor_polling: mean=404.2ms, total=106.31s, count=263, min=374.5ms, max=732.9ms
+  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10172.1ms, max=10172.1ms
+  physics_step: mean=23.5ms, total=6.17s, count=263, min=16.6ms, max=33.3ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.2ms, max=4186.2ms
+  task_sampling: mean=689.7ms, total=1.38s, count=2, min=612.7ms, max=766.6ms
+  task_specific_sample: mean=685.3ms, total=1.37s, count=2, min=607.8ms, max=762.7ms
+  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=2.1ms, max=3.3ms
+  mj_forward_sync: mean=557.4us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.5us, 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 15:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:52:06 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:52:06 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 15:52:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:52:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:52:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:52:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:52:07 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 15:52:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:52:07 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 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151410m	[env.py: 870]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:52:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1887502  -1.12124555 -0.15141038] yaw=-58.7deg	[env.py: 1019]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34752587 -1.16035464 -0.15141038] yaw=-65.7deg	[env.py: 1019]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4146316  -1.06767878 -0.15141038] yaw=-70.8deg	[env.py: 1019]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:52:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.3ms	[env.py: 1075]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.121, -0.151)	[env.py: 1079]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg	[env.py: 1082]
+05/13 15:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:52:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.627[m] 89.501[deg]	[grasp_sample.py: 539]
+05/13 15:52:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:52:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:52:08 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:52:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:52:08 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 15:52:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:52:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:52:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:52:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:52:09 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 15:52:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:52:13 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.719[m] 93.828[deg]	[grasp_sample.py: 539]
+05/13 15:52:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:52:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:52:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:52:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:52:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 15:52:25 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 15:52:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:52:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:52:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:52:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.48s (batch: 4.19s, save: 10.30s)	[pipeline.py: 300]
+05/13 15:52:40 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.43s:
+  episode_total: mean=48.02s, total=192.09s, count=4, min=259.1ms, max=172275.8ms
+  sensor_polling: mean=432.2ms, total=118.86s, count=275, min=385.2ms, max=746.1ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10296.4ms, max=10296.4ms
+  physics_step: mean=24.5ms, total=6.74s, count=275, min=17.1ms, max=52.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4187.9ms, max=4187.9ms
+  task_specific_sample: mean=418.1ms, total=1.67s, count=4, min=253.4ms, max=499.1ms
+  task_sampling: mean=476.0ms, total=1.43s, count=3, min=453.6ms, max=502.0ms
+  task_sampling_failed: mean=259.0ms, total=259.0ms, count=1, min=259.0ms, max=259.0ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=435.2us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, 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 15:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:52:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:52:42 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 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180327m	[env.py: 870]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37330741 -0.8010133  -0.18032719] yaw=-57.9deg	[env.py: 1019]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.83540304 -0.76518317 -0.18032719] yaw=-97.6deg	[env.py: 1019]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms	[env.py: 1075]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -0.801, -0.180)	[env.py: 1079]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg	[env.py: 1082]
+05/13 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:52:42 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:52:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:52:42 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 15:52:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:52:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.529s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:52:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:52:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:52:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:52:47 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 15:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:52:47 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 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167606m	[env.py: 870]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10917528 -1.31783929 -0.16760617] yaw=-23.9deg	[env.py: 1019]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79865523 -0.91765251 -0.16760617] yaw=-64.7deg	[env.py: 1019]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:52:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=493.5ms, total=493.6ms	[env.py: 1075]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -1.318, -0.168)	[env.py: 1079]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.9 deg	[env.py: 1082]
+05/13 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:52:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:52:47 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:52:48 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 15:52:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:52:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:52:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 15:52:58 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 15:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:53:01 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.676[m] 104.908[deg]	[grasp_sample.py: 539]
+05/13 15:53:02 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:53:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:53:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:53:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:53:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:53:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:53:03 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 15:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165786m	[env.py: 870]
+05/13 15:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:53:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:53:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=310.4ms, total=310.4ms	[env.py: 1105]
+05/13 15:53:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:53:04 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 15:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:53:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:53:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:53:05 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 15:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:53:05 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 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134781m	[env.py: 870]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14729497 -0.9792117  -0.13478145] yaw=-17.8deg	[env.py: 1019]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0410205  -1.3785626  -0.13478145] yaw=-39.3deg	[env.py: 1019]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60983413 -0.89385488 -0.13478145] yaw=-72.3deg	[env.py: 1019]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:53:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms	[env.py: 1075]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -0.979, -0.135)	[env.py: 1079]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.8 deg	[env.py: 1082]
+05/13 15:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:53:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:53:06 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:53:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:53:06 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 15:53:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:53:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:53:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.696s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:53:09 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:53:09 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 15:53:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:53:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:53:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:53:10 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 15:53:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:53:10 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 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164228m	[env.py: 870]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:53:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11976732 -1.11177907 -0.1642278 ] yaw=-12.3deg	[env.py: 1019]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:53:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.3ms, total=222.3ms	[env.py: 1075]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.112, -0.164)	[env.py: 1079]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.3 deg	[env.py: 1082]
+05/13 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:53:10 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:53:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:53:11 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 15:53:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:53:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:53:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:53:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:53:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.12s (batch: 4.21s, save: 9.91s)	[pipeline.py: 300]
+05/13 15:53:13 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.82s:
+  episode_total: mean=58.03s, total=174.09s, count=3, min=3339.7ms, max=164418.6ms
+  sensor_polling: mean=410.7ms, total=108.01s, count=263, min=354.7ms, max=634.0ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9907.1ms, max=9907.1ms
+  physics_step: mean=24.7ms, total=6.51s, count=263, min=16.9ms, max=65.7ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.5ms, max=4210.5ms
+  task_sampling: mean=605.4ms, total=1.82s, count=3, min=518.5ms, max=774.3ms
+  task_specific_sample: mean=601.8ms, total=1.81s, count=3, min=515.8ms, max=770.3ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=445.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, 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 15:53:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:53:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.650s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:53:13 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:53:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:53:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:53:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:53:14 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 15:53:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:53:14 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 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192965m	[env.py: 870]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:53:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1510008  -1.22833916 -0.19296481] yaw=-43.4deg	[env.py: 1019]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16096512 -0.98914495 -0.19296481] yaw=-47.0deg	[env.py: 1019]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:53:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.2ms, total=249.3ms	[env.py: 1075]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.228, -0.193)	[env.py: 1079]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg	[env.py: 1082]
+05/13 15:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:53:15 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:53:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:53:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:53:15 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 15:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:53:15 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 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143294m	[env.py: 870]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26472095 -1.27428178 -0.14329414] yaw=-61.0deg	[env.py: 1019]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:53:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:53:15 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 15:53:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84246785 -0.91620669 -0.14329414] yaw=-72.1deg	[env.py: 1019]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08207909 -1.2790251  -0.14329414] yaw=-54.8deg	[env.py: 1019]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=167.0ms, total=167.1ms	[env.py: 1075]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.274, -0.143)	[env.py: 1079]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 15:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:53:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:53:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:53:15 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:53:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:53:15 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 15:53:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:53:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:53:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:53:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:53:16 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.637[m] 89.229[deg]	[grasp_sample.py: 539]
+05/13 15:53:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:53:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:53:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:53:17 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 15:53:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:53:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.687[m] 80.528[deg]	[grasp_sample.py: 539]
+05/13 15:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:53:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:53:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:53:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:53:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:53:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:18 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:54:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:54:20 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:54:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:54:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:30 INFO: [Worker 0] Object is not in grasp! 0.00095 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 15:54:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:54:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:54:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:54:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 143 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:54:33 INFO: [Worker 0] Feasibility-checked 143 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:54:33 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 0.940[deg]	[grasp_sample.py: 539]
+05/13 15:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:43 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:54:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 15:54:43 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 15:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:54:46 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:54:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 15:54:46 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 15:54:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:54:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:54:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:54:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.17s (batch: 4.13s, save: 10.04s)	[pipeline.py: 300]
+05/13 15:54:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=5.98s:
+  episode_total: mean=23.22s, total=208.98s, count=9, min=3322.5ms, max=172072.4ms
+  sensor_polling: mean=425.5ms, total=112.34s, count=264, min=368.0ms, max=826.3ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10044.7ms, max=10044.7ms
+  physics_step: mean=24.1ms, total=6.37s, count=264, min=21.3ms, max=32.2ms
+  task_sampling: mean=664.0ms, total=5.98s, count=9, min=544.6ms, max=857.4ms
+  task_specific_sample: mean=659.7ms, total=5.94s, count=9, min=541.9ms, max=853.7ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.8ms, max=4126.8ms
+  scene_randomize: mean=2.4ms, total=21.9ms, count=9, min=1.2ms, max=5.2ms
+  mj_forward_sync: mean=475.1us, total=4.3ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=30.8us, total=0.3ms, count=9, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:54:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:54:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:54:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:54:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:54:59 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 15:54:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:54:59 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 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136498m	[env.py: 870]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:54:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6595171  -0.84443325 -0.13649766] yaw=-95.3deg	[env.py: 1019]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.91645806 -0.73464658 -0.13649766] yaw=-78.9deg	[env.py: 1019]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:54:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=230.7ms, total=230.7ms	[env.py: 1075]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.844, -0.136)	[env.py: 1079]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.3 deg	[env.py: 1082]
+05/13 15:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:54:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:54:59 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:00 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 15:55:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:55:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:55:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.88s (batch: 5.20s, save: 11.67s)	[pipeline.py: 300]
+05/13 15:55:03 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
+  episode_total: mean=176.15s, total=176.15s, count=1, min=176148.6ms, max=176148.6ms
+  sensor_polling: mean=424.8ms, total=116.83s, count=275, min=375.2ms, max=703.0ms
+  save_trajectories: mean=11.67s, total=11.67s, count=1, min=11674.9ms, max=11674.9ms
+  physics_step: mean=26.4ms, total=7.27s, count=275, min=17.7ms, max=50.4ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5204.4ms, max=5204.4ms
+  task_sampling: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms
+  task_specific_sample: mean=416.4ms, total=416.4ms, count=1, min=416.4ms, max=416.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=572.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:05 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 15:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:05 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 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145776m	[env.py: 870]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18010815 -1.3465717  -0.14577571] yaw=-48.8deg	[env.py: 1019]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10565661 -1.06987589 -0.14577571] yaw=-54.7deg	[env.py: 1019]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=241.7ms, total=241.8ms	[env.py: 1075]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.347, -0.146)	[env.py: 1079]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg	[env.py: 1082]
+05/13 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:05 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:05 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 15:55:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.115s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:10 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.667[m] 83.684[deg]	[grasp_sample.py: 539]
+05/13 15:55:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:12 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 15:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:12 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 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169713m	[env.py: 870]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07898665 -1.39192493 -0.16971272] yaw=-27.8deg	[env.py: 1019]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.4ms, total=232.4ms	[env.py: 1075]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.079, -1.392, -0.170)	[env.py: 1079]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg	[env.py: 1082]
+05/13 15:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:13 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:13 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.734[m] 96.192[deg]	[grasp_sample.py: 539]
+05/13 15:55:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:13 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 15:55:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:14 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:55:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:16 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.626[m] 92.223[deg]	[grasp_sample.py: 539]
+05/13 15:55:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:16 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 15:55:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158858m	[env.py: 870]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37404796 -1.00627255 -0.15885829] yaw=-75.3deg	[env.py: 1019]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02764447 -1.28341322 -0.15885829] yaw=-51.9deg	[env.py: 1019]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34200227 -1.04026525 -0.15885829] yaw=-48.7deg	[env.py: 1019]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.2ms, retries=191.5ms, total=191.8ms	[env.py: 1075]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.006, -0.159)	[env.py: 1079]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.3 deg	[env.py: 1082]
+05/13 15:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:16 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:55:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 349 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:55:17 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:55:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:18 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 15:55:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:18 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 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170369m	[env.py: 870]
+05/13 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48906641 -0.80979815 -0.17036938] yaw=-59.0deg	[env.py: 1019]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05807607 -1.30237196 -0.17036938] yaw=-45.3deg	[env.py: 1019]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms	[env.py: 1075]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.810, -0.170)	[env.py: 1079]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg	[env.py: 1082]
+05/13 15:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 15:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:19 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:19 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 15:55:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.844s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:19 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.690[m] 98.116[deg]	[grasp_sample.py: 539]
+05/13 15:55:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:55:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:55:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:55:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:55:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:55:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:55:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 15:55:41 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 15:55:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 29.864s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:49 INFO: [Worker 0] Feasible grasp found 136 (originally 136): w/ 0.730[m] 118.238[deg]	[grasp_sample.py: 539]
+05/13 15:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 15:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:52 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 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194827m	[env.py: 870]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4889332  -0.97895693 -0.19482685] yaw=-52.3deg	[env.py: 1019]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30067832 -0.90128837 -0.19482685] yaw=-77.0deg	[env.py: 1019]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.70246211 -0.82369711 -0.19482685] yaw=-87.3deg	[env.py: 1019]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=449.9ms, total=450.0ms	[env.py: 1075]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.979, -0.195)	[env.py: 1079]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg	[env.py: 1082]
+05/13 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:52 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:52 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 15:55:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:55:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:55:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.609[m] 81.010[deg]	[grasp_sample.py: 539]
+05/13 15:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:55:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:55:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:55:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:55:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:55:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.61s (batch: 4.49s, save: 11.12s)	[pipeline.py: 300]
+05/13 15:55:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:55:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 15:55:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 15:55:57 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=2.74s:
+  episode_total: mean=31.40s, total=188.42s, count=6, min=322.0ms, max=162705.5ms
+  sensor_polling: mean=419.0ms, total=111.45s, count=266, min=371.7ms, max=708.9ms
+  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11116.3ms, max=11116.3ms
+  physics_step: mean=24.1ms, total=6.41s, count=266, min=16.6ms, max=34.5ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.6ms, max=4494.6ms
+  task_specific_sample: mean=506.2ms, total=3.04s, count=6, min=316.7ms, max=777.1ms
+  task_sampling: mean=547.6ms, total=2.74s, count=5, min=444.8ms, max=781.6ms
+  task_sampling_failed: mean=321.9ms, total=321.9ms, count=1, min=321.9ms, max=321.9ms
+  scene_randomize: mean=1.7ms, total=10.4ms, count=6, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=483.7us, total=2.9ms, count=6, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.1us, 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 15:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:55:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:55:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:55:59 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 15:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:55:59 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 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156880m	[env.py: 870]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18886402 -1.35259813 -0.15687957] yaw=-21.3deg	[env.py: 1019]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56264187 -0.97498185 -0.15687957] yaw=-81.0deg	[env.py: 1019]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15484178 -1.29756201 -0.15687957] yaw=-33.1deg	[env.py: 1019]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.4ms, total=182.5ms	[env.py: 1075]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.353, -0.157)	[env.py: 1079]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.3 deg	[env.py: 1082]
+05/13 15:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:55:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:55:59 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:55:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:55:59 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 15:55:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:55:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:56:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.278s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:56:02 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.636[m] 91.534[deg]	[grasp_sample.py: 539]
+05/13 15:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:56:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:56:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:56:03 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 15:56:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:56:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:56:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.45s (batch: 4.29s, save: 11.16s)	[pipeline.py: 300]
+05/13 15:56:13 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.55s:
+  episode_total: mean=178.99s, total=178.99s, count=1, min=178989.4ms, max=178989.4ms
+  sensor_polling: mean=394.5ms, total=118.34s, count=300, min=368.8ms, max=678.3ms
+  save_trajectories: mean=11.16s, total=11.16s, count=1, min=11157.6ms, max=11157.6ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=21.1ms, max=34.1ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.7ms, max=4287.7ms
+  task_sampling: mean=554.6ms, total=554.6ms, count=1, min=554.6ms, max=554.6ms
+  task_specific_sample: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:56:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:56:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:56:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:56:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:56:14 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 15:56:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:56:14 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 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171215m	[env.py: 870]
+05/13 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:56:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24608837 -1.18821109 -0.17121461] yaw=-37.2deg	[env.py: 1019]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:56:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=619.2ms, total=619.2ms	[env.py: 1075]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -1.188, -0.171)	[env.py: 1079]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg	[env.py: 1082]
+05/13 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/13 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:56:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:56:15 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:56:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:56:15 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 15:56:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:56:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:56:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:56:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.668[m] 81.753[deg]	[grasp_sample.py: 539]
+05/13 15:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:56:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:56:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:56:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:56:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:56:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:56:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:56:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:56:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:56:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:57:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:57:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:57:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:57:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:57:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:57:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:57:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:57:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:57:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 15:57:42 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 15:57:45 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:57:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:57:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.48s (batch: 4.06s, save: 10.42s)	[pipeline.py: 300]
+05/13 15:57:57 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.00s:
+  episode_total: mean=88.24s, total=176.48s, count=2, min=15046.9ms, max=161436.2ms
+  sensor_polling: mean=399.9ms, total=108.76s, count=272, min=353.8ms, max=777.1ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10420.5ms, max=10420.5ms
+  physics_step: mean=24.8ms, total=6.74s, count=272, min=17.1ms, max=83.8ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.3ms, max=4058.3ms
+  task_sampling: mean=500.8ms, total=1.00s, count=2, min=456.8ms, max=544.8ms
+  task_specific_sample: mean=496.5ms, total=993.0ms, count=2, min=452.7ms, max=540.4ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.8ms, max=3.0ms
+  mj_forward_sync: mean=442.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:57:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:57:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:57:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:57:59 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 15:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:57:59 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 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138450m	[env.py: 870]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30523208 -1.23416002 -0.13845035] yaw=-24.4deg	[env.py: 1019]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=187.5ms, total=187.6ms	[env.py: 1075]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.234, -0.138)	[env.py: 1079]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.4 deg	[env.py: 1082]
+05/13 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:57:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:57:59 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:57:59 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 15:57:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:58:02 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.614[m] 81.301[deg]	[grasp_sample.py: 539]
+05/13 15:58:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:58:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 15:58:05 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:58:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:58:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 15:58:08 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 15:58:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 15:58:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:58:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:58:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.01s (batch: 4.00s, save: 10.01s)	[pipeline.py: 300]
+05/13 15:58:23 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=2.28s:
+  episode_total: mean=48.44s, total=193.76s, count=4, min=4878.6ms, max=151013.2ms
+  sensor_polling: mean=400.2ms, total=102.45s, count=256, min=375.2ms, max=669.6ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10008.0ms, max=10008.0ms
+  physics_step: mean=23.3ms, total=5.98s, count=256, min=17.7ms, max=34.5ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4004.1ms, max=4004.1ms
+  task_sampling: mean=570.4ms, total=2.28s, count=4, min=476.8ms, max=749.4ms
+  task_specific_sample: mean=566.9ms, total=2.27s, count=4, min=474.1ms, max=745.8ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=446.2us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  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 15:58:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:24 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 15:58:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:24 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 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142732m	[env.py: 870]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69196829 -0.70422938 -0.14273204] yaw=-82.4deg	[env.py: 1019]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.5ms, total=245.6ms	[env.py: 1075]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.692, -0.704, -0.143)	[env.py: 1079]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.4 deg	[env.py: 1082]
+05/13 15:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:25 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:25 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 15:58:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 348 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.662s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:58:28 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:58:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:58:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 15:58:29 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 15:58:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:29 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 15:58:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184124m	[env.py: 870]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42537729 -0.91771426 -0.18412389] yaw=-56.5deg	[env.py: 1019]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=273.3ms, total=273.4ms	[env.py: 1075]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.918, -0.184)	[env.py: 1079]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/13 15:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:30 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:30 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 15:58:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.864s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:58:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.674[m] 87.054[deg]	[grasp_sample.py: 539]
+05/13 15:58:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:58:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:36 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 15:58:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:36 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 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123204m	[env.py: 870]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.3ms, total=211.4ms	[env.py: 1105]
+05/13 15:58:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:58:36 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 15:58:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 15:58:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 15:58:36 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 15:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:37 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 15:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:37 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 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100710m	[env.py: 870]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45273682 -0.83855333 -0.10071026] yaw=-61.6deg	[env.py: 1019]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77648504 -0.6789961  -0.10071026] yaw=-68.2deg	[env.py: 1019]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.1ms, total=221.2ms	[env.py: 1075]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.839, -0.101)	[env.py: 1079]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg	[env.py: 1082]
+05/13 15:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:38 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:38 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 15:58:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.930s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:58:41 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:58:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:58:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:58:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.39s (batch: 4.36s, save: 10.03s)	[pipeline.py: 300]
+05/13 15:58:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:44 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 15:58:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:44 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 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126628m	[env.py: 870]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02387123 -1.35015226 -0.12662789] yaw=-37.6deg	[env.py: 1019]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=259.9ms, total=260.0ms	[env.py: 1075]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.024, -1.350, -0.127)	[env.py: 1079]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/13 15:58:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:45 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.49s:
+  episode_total: mean=165.85s, total=165.85s, count=1, min=165852.2ms, max=165852.2ms
+  sensor_polling: mean=431.2ms, total=114.26s, count=265, min=378.8ms, max=715.0ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10029.5ms, max=10029.5ms
+  physics_step: mean=25.0ms, total=6.64s, count=265, min=16.6ms, max=33.2ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4362.2ms, max=4362.2ms
+  task_sampling: mean=494.1ms, total=494.1ms, count=1, min=494.1ms, max=494.1ms
+  task_specific_sample: mean=490.2ms, total=490.2ms, count=1, min=490.2ms, max=490.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=446.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 15:58:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:45 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:45 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 15:58:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:46 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 15:58:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:46 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 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116613m	[env.py: 870]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=271.6ms, total=271.6ms	[env.py: 1105]
+05/13 15:58:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 15:58:46 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 15:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:48 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 15:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:48 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 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171453m	[env.py: 870]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89754958 -0.88086025 -0.17145328] yaw=-82.8deg	[env.py: 1019]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45977971 -0.85024946 -0.17145328] yaw=-39.9deg	[env.py: 1019]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=227.3ms, total=227.4ms	[env.py: 1075]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.898, -0.881, -0.171)	[env.py: 1079]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.8 deg	[env.py: 1082]
+05/13 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.964s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:58:48 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:58:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:48 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:48 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 15:58:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 348 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:58:50 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.607[m] 88.788[deg]	[grasp_sample.py: 539]
+05/13 15:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:50 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 15:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:50 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 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173453m	[env.py: 870]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53967736 -0.99113972 -0.17345317] yaw=-73.5deg	[env.py: 1019]
+05/13 15:58:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 15:58:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.33s (batch: 4.25s, save: 10.08s)	[pipeline.py: 300]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=270.5ms, total=270.6ms	[env.py: 1075]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.991, -0.173)	[env.py: 1079]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg	[env.py: 1082]
+05/13 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:51 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:51 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 15:58:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:51 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:58:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.95s:
+  episode_total: mean=156.75s, total=156.75s, count=1, min=156752.4ms, max=156752.4ms
+  sensor_polling: mean=391.3ms, total=104.49s, count=267, min=363.7ms, max=747.6ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.5ms, max=10080.5ms
+  physics_step: mean=23.5ms, total=6.26s, count=267, min=16.5ms, max=33.9ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.4ms, max=4245.4ms
+  task_sampling: mean=947.7ms, total=947.7ms, count=1, min=947.7ms, max=947.7ms
+  task_specific_sample: mean=943.7ms, total=943.7ms, count=1, min=943.7ms, max=943.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=433.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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 15:58:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:53 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 15:58:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:53 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 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157539m	[env.py: 870]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11594064 -1.2064808  -0.15753876] yaw=-48.2deg	[env.py: 1019]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:53 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 15:58:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:53 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 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131702m	[env.py: 870]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49382738 -0.95823352 -0.13170155] yaw=-32.0deg	[env.py: 1019]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44716502 -0.97213771 -0.15753876] yaw=-61.0deg	[env.py: 1019]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37871583 -1.05269798 -0.15753876] yaw=-60.8deg	[env.py: 1019]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms	[env.py: 1075]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.206, -0.158)	[env.py: 1079]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=272.4ms, total=272.5ms	[env.py: 1075]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.958, -0.132)	[env.py: 1079]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.0 deg	[env.py: 1082]
+05/13 15:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.019s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:58:53 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.629[m] 98.327[deg]	[grasp_sample.py: 539]
+05/13 15:58:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:58:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:53 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:58:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:53 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 15:58:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:58:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:58:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.761s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 15:58:56 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 15:58:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:58:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:58:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:58:58 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 15:58:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:58:58 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 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129387m	[env.py: 870]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:58:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.78229641 -0.78633299 -0.12938743] yaw=-71.9deg	[env.py: 1019]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34025462 -1.18918577 -0.12938743] yaw=-31.6deg	[env.py: 1019]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63065717 -0.87899005 -0.12938743] yaw=-87.1deg	[env.py: 1019]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:58:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.5ms	[env.py: 1075]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.782, -0.786, -0.129)	[env.py: 1079]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg	[env.py: 1082]
+05/13 15:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:58:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:58:58 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:58:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:58:58 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 15:58:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:58:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 354 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:59:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:59:01 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.708[m] 88.488[deg]	[grasp_sample.py: 539]
+05/13 15:59:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:59:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:59:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:59:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:59:03 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.721[m] 89.492[deg]	[grasp_sample.py: 539]
+05/13 15:59:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 15:59:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 15:59:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 15:59:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 15:59:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:59:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 15:59:05 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 15:59:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 15:59:05 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 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101478m	[env.py: 870]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 15:59:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69296347 -0.83204744 -0.10147766] yaw=-89.4deg	[env.py: 1019]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15598158 -1.34916295 -0.10147766] yaw=-7.6deg	[env.py: 1019]
+05/13 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 15:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.2ms, total=233.2ms	[env.py: 1075]
+05/13 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.693, -0.832, -0.101)	[env.py: 1079]
+05/13 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.4 deg	[env.py: 1082]
+05/13 15:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 15:59:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 15:59:06 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 15:59:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 15:59:06 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 15:59:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:59:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 344 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:59:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:59:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:59:09 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.714[m] 98.305[deg]	[grasp_sample.py: 539]
+05/13 15:59:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:59:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:59:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 15:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 15:59:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 15:59:57 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 15:59:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 15:59:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 15:59:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 15:59:58 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.140[m] 7.118[deg]	[grasp_sample.py: 539]
+05/13 15:59:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 15:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 15:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:02 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:00:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:00:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:00:12 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 16:00:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 355 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:00:13 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 16:00:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.838s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:14 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.197[m] 9.747[deg]	[grasp_sample.py: 539]
+05/13 16:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:15 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.102[m] 5.189[deg]	[grasp_sample.py: 539]
+05/13 16:00:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:16 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.070[m] 4.271[deg]	[grasp_sample.py: 539]
+05/13 16:00:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:17 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:00:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:19 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 16:00:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:19 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 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131146m	[env.py: 870]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38621044 -1.15502308 -0.13114582] yaw=-34.6deg	[env.py: 1019]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14298563 -1.15244602 -0.13114582] yaw=-48.7deg	[env.py: 1019]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:00:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.155, -0.131)	[env.py: 1079]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg	[env.py: 1082]
+05/13 16:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:00:19 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:00:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:00:19 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 16:00:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.645[m] 80.512[deg]	[grasp_sample.py: 539]
+05/13 16:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:00:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 16:00:25 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 16:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:00:35 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 16:00:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:00:36 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 16:00:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:37 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.236[m] 10.024[deg]	[grasp_sample.py: 539]
+05/13 16:00:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:38 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.143[m] 14.542[deg]	[grasp_sample.py: 539]
+05/13 16:00:39 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:00:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:41 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 16:00:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:41 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 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179490m	[env.py: 870]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:00:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:00:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.30s (batch: 4.89s, save: 11.40s)	[pipeline.py: 300]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.8ms, total=209.9ms	[env.py: 1105]
+05/13 16:00:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:00:41 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 16:00:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
+  episode_total: mean=162.59s, total=162.59s, count=1, min=162586.5ms, max=162586.5ms
+  sensor_polling: mean=423.2ms, total=109.61s, count=259, min=361.6ms, max=831.5ms
+  save_trajectories: mean=11.40s, total=11.40s, count=1, min=11404.8ms, max=11404.8ms
+  physics_step: mean=26.3ms, total=6.82s, count=259, min=16.4ms, max=88.7ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4891.6ms, max=4891.6ms
+  task_sampling: mean=495.4ms, total=495.4ms, count=1, min=495.4ms, max=495.4ms
+  task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=445.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, 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 16:00:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:00:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:42 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 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104471m	[env.py: 870]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48767744 -1.01775503 -0.10447149] yaw=-49.8deg	[env.py: 1019]
+05/13 16:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=319.5ms, total=319.5ms	[env.py: 1075]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -1.018, -0.104)	[env.py: 1079]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:00:43 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:00:43 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 16:00:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:43 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 16:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:43 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 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112679m	[env.py: 870]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20289299 -1.29496349 -0.11267904] yaw=-3.1deg	[env.py: 1019]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:00:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=337.9ms, total=337.9ms	[env.py: 1075]
+05/13 16:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.295, -0.113)	[env.py: 1079]
+05/13 16:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.1 deg	[env.py: 1082]
+05/13 16:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 16:00:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:00:44 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:00:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:00:44 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 16:00:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 369 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.960s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:46 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.646[m] 93.677[deg]	[grasp_sample.py: 539]
+05/13 16:00:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:47 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 16:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:50 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.692[m] 77.516[deg]	[grasp_sample.py: 539]
+05/13 16:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:52 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:53 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 16:00:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:53 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 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104705m	[env.py: 870]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3347763  -1.08413272 -0.10470487] yaw=-56.6deg	[env.py: 1019]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24860049 -1.15141553 -0.10470487] yaw=-31.8deg	[env.py: 1019]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5638207  -0.75874279 -0.10470487] yaw=-66.4deg	[env.py: 1019]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.3ms, total=157.4ms	[env.py: 1075]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.084, -0.105)	[env.py: 1079]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg	[env.py: 1082]
+05/13 16:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:00:54 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:00:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:00:54 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 16:00:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:00:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:00:54 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:00:55 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:00:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=2.84s:
+  episode_total: mean=23.40s, total=140.42s, count=6, min=225.2ms, max=124394.9ms
+  sensor_polling: mean=408.8ms, total=65.41s, count=160, min=376.6ms, max=681.0ms
+  physics_step: mean=22.7ms, total=3.64s, count=160, min=17.0ms, max=32.8ms
+  task_specific_sample: mean=506.9ms, total=3.04s, count=6, min=218.8ms, max=647.5ms
+  task_sampling: mean=568.9ms, total=2.84s, count=5, min=476.0ms, max=653.8ms
+  task_sampling_failed: mean=225.1ms, total=225.1ms, count=1, min=225.1ms, max=225.1ms
+  scene_randomize: mean=2.1ms, total=12.9ms, count=6, min=1.0ms, max=3.4ms
+  mj_forward_sync: mean=446.5us, total=2.7ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:00:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:00:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:00:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:00:56 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 16:00:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:00:56 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 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142787m	[env.py: 870]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:00:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10146779 -1.29911685 -0.14278723] yaw=-48.7deg	[env.py: 1019]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36636465 -0.94883742 -0.14278723] yaw=-78.3deg	[env.py: 1019]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18886975 -1.07330822 -0.14278723] yaw=-31.4deg	[env.py: 1019]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:00:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.7ms, total=308.7ms	[env.py: 1075]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.101, -1.299, -0.143)	[env.py: 1079]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg	[env.py: 1082]
+05/13 16:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:00:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:00:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:00:57 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.692[m] 83.920[deg]	[grasp_sample.py: 539]
+05/13 16:00:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:00:57 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:00:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:00:57 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 16:00:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:00:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:00:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:00:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:00:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:00:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:01:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.591s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:01:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:01:00 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 16:01:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:01:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:01:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:01:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:01:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:01:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:01:03 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 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109855m	[env.py: 870]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:01:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31242715 -1.04834466 -0.109855  ] yaw=-72.1deg	[env.py: 1019]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29089375 -1.12220289 -0.109855  ] yaw=-42.2deg	[env.py: 1019]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=320.6ms, total=320.7ms	[env.py: 1075]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.048, -0.110)	[env.py: 1079]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg	[env.py: 1082]
+05/13 16:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:01:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:01:03 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:01:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:01:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:01:06 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.757[m] 87.449[deg]	[grasp_sample.py: 539]
+05/13 16:01:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:01:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:01:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:01:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:01:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:01:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:01:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:01:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:01:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:02:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:02:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:02:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:02:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:02:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:02:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:02:26 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:02:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:02:51 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:02:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:02:51 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 16:02:55 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:03:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:03:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:03:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.28s (batch: 4.11s, save: 10.17s)	[pipeline.py: 300]
+05/13 16:03:06 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=2.06s:
+  episode_total: mean=50.78s, total=253.90s, count=5, min=283.7ms, max=167039.7ms
+  sensor_polling: mean=418.5ms, total=169.93s, count=406, min=372.1ms, max=758.8ms
+  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10166.0ms, max=10166.0ms
+  physics_step: mean=23.7ms, total=9.62s, count=406, min=16.4ms, max=57.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.3ms, max=4109.3ms
+  task_specific_sample: mean=464.8ms, total=2.32s, count=5, min=278.7ms, max=529.4ms
+  task_sampling: mean=514.8ms, total=2.06s, count=4, min=485.8ms, max=532.5ms
+  task_sampling_failed: mean=283.7ms, total=283.7ms, count=1, min=283.7ms, max=283.7ms
+  scene_randomize: mean=1.9ms, total=9.3ms, count=5, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=484.0us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.9us, 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 16:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:07 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 16:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:07 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 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121220m	[env.py: 870]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50780511 -0.97545981 -0.12122018] yaw=-85.5deg	[env.py: 1019]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59617473 -0.98614495 -0.12122018] yaw=-77.1deg	[env.py: 1019]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71374245 -0.92195323 -0.12122018] yaw=-78.3deg	[env.py: 1019]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.2ms, total=153.2ms	[env.py: 1075]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.975, -0.121)	[env.py: 1079]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.5 deg	[env.py: 1082]
+05/13 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:08 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:08 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 16:03:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:12 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.708[m] 87.853[deg]	[grasp_sample.py: 539]
+05/13 16:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:03:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:03:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:03:13 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 16:03:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:03:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:03:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 16:03:19 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 16:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:03:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.12s (batch: 4.14s, save: 9.98s)	[pipeline.py: 300]
+05/13 16:03:28 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.69s:
+  episode_total: mean=67.88s, total=271.52s, count=4, min=220.4ms, max=165777.2ms
+  sensor_polling: mean=385.6ms, total=165.05s, count=428, min=356.0ms, max=713.7ms
+  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9980.5ms, max=9980.5ms
+  physics_step: mean=22.7ms, total=9.70s, count=428, min=16.4ms, max=33.3ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4139.1ms, max=4139.1ms
+  task_specific_sample: mean=473.5ms, total=1.89s, count=4, min=215.6ms, max=594.7ms
+  task_sampling: mean=563.4ms, total=1.69s, count=3, min=512.1ms, max=598.5ms
+  task_sampling_failed: mean=220.3ms, total=220.3ms, count=1, min=220.3ms, max=220.3ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.2ms, max=3.3ms
+  mj_forward_sync: mean=469.8us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.1us, 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 16:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:30 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 16:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149736m	[env.py: 870]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03329912 -1.22524562 -0.1497363 ] yaw=-9.6deg	[env.py: 1019]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89594509 -0.71850476 -0.1497363 ] yaw=-71.2deg	[env.py: 1019]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10666691 -1.19355797 -0.1497363 ] yaw=-13.0deg	[env.py: 1019]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.1ms, total=246.1ms	[env.py: 1075]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.033, -1.225, -0.150)	[env.py: 1079]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.6 deg	[env.py: 1082]
+05/13 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:30 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:30 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 16:03:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.545s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:03:33 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:03:33 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 16:03:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:03:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:03:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.40s (batch: 4.00s, save: 10.40s)	[pipeline.py: 300]
+05/13 16:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:34 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.13s:
+  episode_total: mean=84.46s, total=168.91s, count=2, min=8351.4ms, max=160558.7ms
+  sensor_polling: mean=404.8ms, total=109.29s, count=270, min=356.1ms, max=800.6ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10395.9ms, max=10395.9ms
+  physics_step: mean=24.3ms, total=6.57s, count=270, min=19.0ms, max=34.2ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.9ms, max=4000.9ms
+  task_sampling: mean=563.0ms, total=1.13s, count=2, min=447.9ms, max=678.1ms
+  task_specific_sample: mean=558.6ms, total=1.12s, count=2, min=443.5ms, max=673.8ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.8ms
+  mj_forward_sync: mean=453.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:03:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:34 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 16:03:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:34 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 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184437m	[env.py: 870]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56543776 -0.81237006 -0.18443652] yaw=-48.8deg	[env.py: 1019]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=301.9ms, total=302.0ms	[env.py: 1075]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.812, -0.184)	[env.py: 1079]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg	[env.py: 1082]
+05/13 16:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 16:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:35 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:35 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 16:03:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:36 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 16:03:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:36 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 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164282m	[env.py: 870]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49258616 -0.9455197  -0.16428197] yaw=-70.0deg	[env.py: 1019]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5591766  -0.9151962  -0.16428197] yaw=-80.1deg	[env.py: 1019]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21061582 -1.03200906 -0.16428197] yaw=-16.6deg	[env.py: 1019]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.8ms, total=202.8ms	[env.py: 1075]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.946, -0.164)	[env.py: 1079]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg	[env.py: 1082]
+05/13 16:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:36 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:36 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 16:03:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:03:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:03:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:03:42 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 16:03:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:03:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:03:42 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/13 16:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:43 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.747[m] 93.413[deg]	[grasp_sample.py: 539]
+05/13 16:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:43 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.674[m] 81.139[deg]	[grasp_sample.py: 539]
+05/13 16:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:03:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:03:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:03:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:03:44 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:03:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:44 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.557[m] 67.023[deg]	[grasp_sample.py: 539]
+05/13 16:03:46 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:46 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 16:03:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:46 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 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119263m	[env.py: 870]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31748261 -1.13739991 -0.11926319] yaw=-69.0deg	[env.py: 1019]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=350.6ms, total=350.6ms	[env.py: 1075]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -1.137, -0.119)	[env.py: 1079]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg	[env.py: 1082]
+05/13 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:46 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:47 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 16:03:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:03:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:03:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:03:47 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 16:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:03:47 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 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143303m	[env.py: 870]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2810133  -1.07321428 -0.14330336] yaw=-45.3deg	[env.py: 1019]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03225323 -1.23491176 -0.14330336] yaw=-43.6deg	[env.py: 1019]
+05/13 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.71758441 -0.74286687 -0.14330336] yaw=-51.5deg	[env.py: 1019]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:03:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=304.8ms, total=304.8ms	[env.py: 1075]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.073, -0.143)	[env.py: 1079]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg	[env.py: 1082]
+05/13 16:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/13 16:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:03:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:03:48 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:03:48 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 16:03:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:03:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:03:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.708[m] 77.097[deg]	[grasp_sample.py: 539]
+05/13 16:03:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:03:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:03:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:03:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:03:56 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.725[m] 88.695[deg]	[grasp_sample.py: 539]
+05/13 16:03:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:03:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:03:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:03:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.76s (batch: 4.69s, save: 12.07s)	[pipeline.py: 300]
+05/13 16:03:59 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.28s:
+  episode_total: mean=90.11s, total=180.22s, count=2, min=3496.6ms, max=176719.4ms
+  sensor_polling: mean=417.5ms, total=118.58s, count=284, min=372.5ms, max=738.7ms
+  save_trajectories: mean=12.07s, total=12.07s, count=1, min=12069.7ms, max=12069.7ms
+  physics_step: mean=24.3ms, total=6.89s, count=284, min=17.2ms, max=33.7ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4693.6ms, max=4693.6ms
+  task_sampling: mean=638.1ms, total=1.28s, count=2, min=618.4ms, max=657.7ms
+  task_specific_sample: mean=633.9ms, total=1.27s, count=2, min=613.2ms, max=654.5ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=433.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, 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 16:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:04:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:04:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:04:01 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 16:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:04:01 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 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101771m	[env.py: 870]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46995665 -0.90983053 -0.10177145] yaw=-61.0deg	[env.py: 1019]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56806438 -0.73782329 -0.10177145] yaw=-48.0deg	[env.py: 1019]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28167936 -1.24416148 -0.10177145] yaw=-47.5deg	[env.py: 1019]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.7ms	[env.py: 1075]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.910, -0.102)	[env.py: 1079]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 16:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:04:02 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:04:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:04:02 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 16:04:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:04:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.740[m] 92.778[deg]	[grasp_sample.py: 539]
+05/13 16:04:06 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:04:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:04:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:04:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:04:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:04:07 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 16:04:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:04:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118463m	[env.py: 870]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:04:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30227267 -0.88404538 -0.11846304] yaw=-60.6deg	[env.py: 1019]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13619875 -1.28929162 -0.11846304] yaw=-1.4deg	[env.py: 1019]
+05/13 16:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53361638 -0.85276901 -0.11846304] yaw=-47.0deg	[env.py: 1019]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=436.0ms, total=436.1ms	[env.py: 1075]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.884, -0.118)	[env.py: 1079]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg	[env.py: 1082]
+05/13 16:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 16:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:04:08 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:04:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:04:08 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 16:04:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.420s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:04:11 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:04:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:04:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:04:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:04:12 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 16:04:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:04:12 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 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118725m	[env.py: 870]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:04:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07250195 -1.32663556 -0.11872483] yaw=-39.4deg	[env.py: 1019]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31026261 -1.02234891 -0.11872483] yaw=-47.3deg	[env.py: 1019]
+05/13 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=645.5ms, total=645.6ms	[env.py: 1075]
+05/13 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.073, -1.327, -0.119)	[env.py: 1079]
+05/13 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg	[env.py: 1082]
+05/13 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/13 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:04:13 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:04:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:04:13 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 16:04:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.700s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:04:16 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:04:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:04:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:04:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:04:17 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 16:04:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:04:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124544m	[env.py: 870]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:04:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04393537 -1.17080434 -0.12454429] yaw=-3.6deg	[env.py: 1019]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35557412 -1.11165014 -0.12454429] yaw=-20.2deg	[env.py: 1019]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15732572 -1.06695852 -0.12454429] yaw=-13.0deg	[env.py: 1019]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.8ms	[env.py: 1075]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -1.171, -0.125)	[env.py: 1079]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.6 deg	[env.py: 1082]
+05/13 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:04:18 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:04:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:04:18 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 16:04:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.866s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:04:21 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:04:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:04:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:04:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:04:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:04:22 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 16:04:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:04:22 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 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104485m	[env.py: 870]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:04:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61242838 -0.98271805 -0.10448529] yaw=-68.1deg	[env.py: 1019]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30929868 -1.17041238 -0.10448529] yaw=-37.7deg	[env.py: 1019]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.92211471 -0.77737405 -0.10448529] yaw=-67.6deg	[env.py: 1019]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.6ms, total=238.7ms	[env.py: 1075]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.983, -0.104)	[env.py: 1079]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg	[env.py: 1082]
+05/13 16:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/13 16:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:04:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:04:23 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:04:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:04:23 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 16:04:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:04:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.628[m] 99.607[deg]	[grasp_sample.py: 539]
+05/13 16:04:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:04:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:04:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:04:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:04:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:04:54 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 16:04:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:04:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:04:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:04:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:04:55 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.112[m] 10.060[deg]	[grasp_sample.py: 539]
+05/13 16:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:04:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:04:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:04:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:05:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:05:12 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 16:05:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:05:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:05:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:05:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.112[m] 10.058[deg]	[grasp_sample.py: 539]
+05/13 16:05:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:05:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:05:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:05:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:05:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:05:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:05:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:05:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.767s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:05:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.112[m] 10.058[deg]	[grasp_sample.py: 539]
+05/13 16:05:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:05:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:05:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:05:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:05:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:05:49 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:05:49 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=0.52s:
+  episode_total: mean=133.07s, total=133.07s, count=1, min=133065.0ms, max=133065.0ms
+  sensor_polling: mean=442.0ms, total=65.42s, count=148, min=351.1ms, max=822.1ms
+  physics_step: mean=25.7ms, total=3.80s, count=148, min=14.5ms, max=62.6ms
+  task_sampling: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  task_specific_sample: mean=514.9ms, total=514.9ms, count=1, min=514.9ms, max=514.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, 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 16:05:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:05:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:05:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:05:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:05:51 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 16:05:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:05:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107076m	[env.py: 870]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:05:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=276.4ms, total=276.5ms	[env.py: 1105]
+05/13 16:05:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:05:51 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 16:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:05:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:05:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:05:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:05:53 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 16:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:05:53 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 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192868m	[env.py: 870]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09599742 -1.28999883 -0.19286844] yaw=-10.6deg	[env.py: 1019]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29812283 -0.90817345 -0.19286844] yaw=-56.3deg	[env.py: 1019]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30373869 -1.19002755 -0.19286844] yaw=-38.0deg	[env.py: 1019]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:05:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.0ms, total=290.1ms	[env.py: 1075]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.290, -0.193)	[env.py: 1079]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.6 deg	[env.py: 1082]
+05/13 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:05:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:05:54 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:05:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:05:54 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 16:05:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:05:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:05:59 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:06:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:06:00 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.668[m] 81.694[deg]	[grasp_sample.py: 539]
+05/13 16:06:02 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:06:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:03 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 16:06:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:03 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 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153148m	[env.py: 870]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14924274 -1.26668283 -0.15314808] yaw=-13.7deg	[env.py: 1019]
+05/13 16:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38081938 -0.88209951 -0.15314808] yaw=-72.4deg	[env.py: 1019]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.81208385 -0.67807635 -0.15314808] yaw=-105.2deg	[env.py: 1019]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=401.9ms, total=402.0ms	[env.py: 1075]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.267, -0.153)	[env.py: 1079]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.7 deg	[env.py: 1082]
+05/13 16:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 16:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:04 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:04 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 16:06:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:06 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:06:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:06:17 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.715[m] 87.541[deg]	[grasp_sample.py: 539]
+05/13 16:06:18 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:20 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 16:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:20 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 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182214m	[env.py: 870]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58227538 -0.88152791 -0.18221357] yaw=-78.8deg	[env.py: 1019]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.7ms, total=247.7ms	[env.py: 1075]
+05/13 16:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.882, -0.182)	[env.py: 1079]
+05/13 16:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg	[env.py: 1082]
+05/13 16:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 16:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:21 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:21 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 16:06:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:06:24 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.658[m] 90.343[deg]	[grasp_sample.py: 539]
+05/13 16:06:25 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:06:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:06:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:06:26 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 16:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:27 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 16:06:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199118m	[env.py: 870]
+05/13 16:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1068811  -1.14309365 -0.19911816] yaw=-8.9deg	[env.py: 1019]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08657282 -1.37469258 -0.19911816] yaw=-1.5deg	[env.py: 1019]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=565.5ms, total=565.5ms	[env.py: 1075]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -1.143, -0.199)	[env.py: 1079]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.9 deg	[env.py: 1082]
+05/13 16:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/13 16:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:28 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:28 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 16:06:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.252s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:06:31 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125122m	[env.py: 870]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86458171 -0.8626323  -0.1251221 ] yaw=-111.0deg	[env.py: 1019]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59859158 -0.92530254 -0.1251221 ] yaw=-46.3deg	[env.py: 1019]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=439.7ms, total=439.8ms	[env.py: 1075]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.865, -0.863, -0.125)	[env.py: 1079]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.0 deg	[env.py: 1082]
+05/13 16:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:33 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:06:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:06:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:06:35 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 16:06:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:06:37 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.752[m] 94.250[deg]	[grasp_sample.py: 539]
+05/13 16:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:06:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:06:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:06:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.22s (batch: 4.37s, save: 10.85s)	[pipeline.py: 300]
+05/13 16:06:42 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.81s:
+  episode_total: mean=63.30s, total=189.90s, count=3, min=3362.0ms, max=176539.0ms
+  sensor_polling: mean=410.7ms, total=112.95s, count=275, min=323.9ms, max=749.4ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10852.6ms, max=10852.6ms
+  physics_step: mean=26.4ms, total=7.26s, count=275, min=17.3ms, max=38.1ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.8ms, max=4365.8ms
+  task_sampling: mean=603.3ms, total=1.81s, count=3, min=572.4ms, max=656.9ms
+  task_specific_sample: mean=599.5ms, total=1.80s, count=3, min=568.3ms, max=652.6ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=487.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.0us, 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 16:06:43 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:06:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:44 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 16:06:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172294m	[env.py: 870]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15817742 -1.03501319 -0.17229356] yaw=-15.0deg	[env.py: 1019]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=647.4ms, total=647.5ms	[env.py: 1075]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.035, -0.172)	[env.py: 1079]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.0 deg	[env.py: 1082]
+05/13 16:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:45 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:45 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 16:06:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.402s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:06:47 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:06:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:49 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 16:06:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:49 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 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184819m	[env.py: 870]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34098407 -0.94527924 -0.18481945] yaw=-39.1deg	[env.py: 1019]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33846522 -1.21048672 -0.18481945] yaw=-53.1deg	[env.py: 1019]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=430.2ms, total=430.3ms	[env.py: 1075]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -0.945, -0.185)	[env.py: 1079]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg	[env.py: 1082]
+05/13 16:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:49 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:50 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 16:06:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:06:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:06:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.90s (batch: 5.39s, save: 11.51s)	[pipeline.py: 300]
+05/13 16:06:52 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.09s:
+  episode_total: mean=111.92s, total=223.85s, count=2, min=38574.3ms, max=185272.6ms
+  sensor_polling: mean=448.2ms, total=142.98s, count=319, min=349.0ms, max=1033.8ms
+  save_trajectories: mean=11.51s, total=11.51s, count=1, min=11512.3ms, max=11512.3ms
+  physics_step: mean=27.5ms, total=8.78s, count=319, min=16.8ms, max=68.5ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5392.1ms, max=5392.1ms
+  task_sampling: mean=546.1ms, total=1.09s, count=2, min=473.3ms, max=618.8ms
+  task_specific_sample: mean=541.8ms, total=1.08s, count=2, min=468.5ms, max=615.1ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms
+  mj_forward_sync: mean=555.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=28.2us, 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 16:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:54 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 16:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148634m	[env.py: 870]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42509736 -0.79929883 -0.14863402] yaw=-57.8deg	[env.py: 1019]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:06:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:06:55 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.716[m] 85.079[deg]	[grasp_sample.py: 539]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.725365   -0.88299429 -0.14863402] yaw=-95.8deg	[env.py: 1019]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:06:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=659.6ms, total=659.7ms	[env.py: 1075]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.799, -0.149)	[env.py: 1079]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/13 16:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 16:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:06:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:06:55 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:06:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:06:55 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 16:06:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:06:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:06:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:06:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:06:56 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 16:06:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.239s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:06:58 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:06:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:06:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:06:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:06:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:06:59 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 16:06:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:06:59 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 16:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188217m	[env.py: 870]
+05/13 16:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:06:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66677038 -0.93960306 -0.1882171 ] yaw=-58.5deg	[env.py: 1019]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.90245405 -0.67891654 -0.1882171 ] yaw=-88.7deg	[env.py: 1019]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28667855 -1.16687584 -0.1882171 ] yaw=-55.7deg	[env.py: 1019]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=663.2ms, total=663.3ms	[env.py: 1075]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.667, -0.940, -0.188)	[env.py: 1079]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/13 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/13 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:00 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:00 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 16:07:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.604[m] 89.251[deg]	[grasp_sample.py: 539]
+05/13 16:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:03 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:04 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 16:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:04 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 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174005m	[env.py: 870]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09480947 -1.40882407 -0.17400535] yaw=-0.1deg	[env.py: 1019]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms	[env.py: 1075]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.095, -1.409, -0.174)	[env.py: 1079]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.1 deg	[env.py: 1082]
+05/13 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:05 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:05 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 16:07:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:08 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.655[m] 82.110[deg]	[grasp_sample.py: 539]
+05/13 16:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:09 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:07:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:07:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:07:09 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 16:07:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:10 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 16:07:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180454m	[env.py: 870]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75875666 -0.66568417 -0.18045386] yaw=-76.3deg	[env.py: 1019]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=254.0ms, total=254.0ms	[env.py: 1075]
+05/13 16:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.759, -0.666, -0.180)	[env.py: 1079]
+05/13 16:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg	[env.py: 1082]
+05/13 16:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/13 16:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:11 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:11 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 16:07:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 354 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:07:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:07:13 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 16:07:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.614s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:07:14 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:07:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.257s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:14 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.617[m] 73.956[deg]	[grasp_sample.py: 539]
+05/13 16:07:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:15 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 16:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:15 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 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122719m	[env.py: 870]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.68503773 -0.93516032 -0.12271932] yaw=-67.1deg	[env.py: 1019]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:15 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32545402 -0.89940125 -0.12271932] yaw=-67.8deg	[env.py: 1019]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=788.0ms, total=788.1ms	[env.py: 1075]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.935, -0.123)	[env.py: 1079]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg	[env.py: 1082]
+05/13 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:16 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:16 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 16:07:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:17 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 16:07:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166981m	[env.py: 870]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19989664 -0.92935521 -0.16698097] yaw=-56.1deg	[env.py: 1019]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.2ms, total=313.3ms	[env.py: 1075]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -0.929, -0.167)	[env.py: 1079]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg	[env.py: 1082]
+05/13 16:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:18 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:18 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 16:07:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:18 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.678[m] 93.667[deg]	[grasp_sample.py: 539]
+05/13 16:07:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:07:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:07:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:07:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.633s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:07:20 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:07:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:22 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 16:07:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:22 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 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116485m	[env.py: 870]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45230713 -0.85037891 -0.11648469] yaw=-70.0deg	[env.py: 1019]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=281.9ms, total=281.9ms	[env.py: 1075]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -0.850, -0.116)	[env.py: 1079]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg	[env.py: 1082]
+05/13 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:23 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:23 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 16:07:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:07:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:07:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.07s (batch: 4.74s, save: 10.33s)	[pipeline.py: 300]
+05/13 16:07:25 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=3.35s:
+  episode_total: mean=39.61s, total=198.07s, count=5, min=3366.3ms, max=182484.4ms
+  sensor_polling: mean=471.7ms, total=124.05s, count=263, min=366.6ms, max=791.2ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10334.0ms, max=10334.0ms
+  physics_step: mean=29.8ms, total=7.84s, count=263, min=21.6ms, max=44.3ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4736.7ms, max=4736.7ms
+  task_sampling: mean=670.7ms, total=3.35s, count=5, min=490.5ms, max=1067.7ms
+  task_specific_sample: mean=667.1ms, total=3.34s, count=5, min=487.5ms, max=1065.0ms
+  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=474.0us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:07:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:07:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:07:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:07:26 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 16:07:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:07:26 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 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190708m	[env.py: 870]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:07:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73079348 -0.94274267 -0.19070788] yaw=-62.9deg	[env.py: 1019]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:07:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=191.6ms, total=191.7ms	[env.py: 1075]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.731, -0.943, -0.191)	[env.py: 1079]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg	[env.py: 1082]
+05/13 16:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:07:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:07:27 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:07:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:07:27 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 16:07:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.598[m] 86.180[deg]	[grasp_sample.py: 539]
+05/13 16:07:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:07:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:07:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:07:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:07:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.154s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:32 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.747[m] 112.747[deg]	[grasp_sample.py: 539]
+05/13 16:07:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:07:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:07:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:07:33 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 16:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:07:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:07:54 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 16:07:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:07:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:07:55 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.501[m] 64.268[deg]	[grasp_sample.py: 539]
+05/13 16:07:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:07:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:08:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:08:02 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 16:08:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.423[m] 55.085[deg]	[grasp_sample.py: 539]
+05/13 16:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:08 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 16:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:08 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 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182576m	[env.py: 870]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38758908 -1.02651521 -0.18257638] yaw=-29.1deg	[env.py: 1019]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00957596 -1.30598916 -0.18257638] yaw=-28.6deg	[env.py: 1019]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8406656  -0.70203491 -0.18257638] yaw=-78.4deg	[env.py: 1019]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=120.5ms, total=120.6ms	[env.py: 1075]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.027, -0.183)	[env.py: 1079]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.1 deg	[env.py: 1082]
+05/13 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:08 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:08 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 16:08:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:08:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:08:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:08:10 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 16:08:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.678[m] 86.935[deg]	[grasp_sample.py: 539]
+05/13 16:08:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:12 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.496[m] 63.544[deg]	[grasp_sample.py: 539]
+05/13 16:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:13 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:13 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 16:08:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:13 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 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140199m	[env.py: 870]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23003498 -1.32780141 -0.14019878] yaw=-38.5deg	[env.py: 1019]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62366777 -0.9882814  -0.14019878] yaw=-38.0deg	[env.py: 1019]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=301.1ms, total=301.2ms	[env.py: 1075]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -1.328, -0.140)	[env.py: 1079]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg	[env.py: 1082]
+05/13 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:14 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:14 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 16:08:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:08:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:15 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 16:08:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:15 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 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198400m	[env.py: 870]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.69371175 -0.72559725 -0.19840006] yaw=-80.7deg	[env.py: 1019]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50228495 -1.01550666 -0.19840006] yaw=-42.7deg	[env.py: 1019]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.7ms, total=233.7ms	[env.py: 1075]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.694, -0.726, -0.198)	[env.py: 1079]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.7 deg	[env.py: 1082]
+05/13 16:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:15 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:15 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 16:08:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.291s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.620[m] 91.408[deg]	[grasp_sample.py: 539]
+05/13 16:08:20 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:21 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 16:08:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:21 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 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188911m	[env.py: 870]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45877003 -0.97222664 -0.18891122] yaw=-31.0deg	[env.py: 1019]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52219365 -0.78632559 -0.18891122] yaw=-62.2deg	[env.py: 1019]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23675035 -1.32077794 -0.18891122] yaw=-2.4deg	[env.py: 1019]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.5ms, total=142.5ms	[env.py: 1075]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.972, -0.189)	[env.py: 1079]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.0 deg	[env.py: 1082]
+05/13 16:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:22 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:22 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 16:08:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.319s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:25 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.751[m] 89.607[deg]	[grasp_sample.py: 539]
+05/13 16:08:26 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.336s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.734[m] 88.815[deg]	[grasp_sample.py: 539]
+05/13 16:08:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:27 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 16:08:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:27 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 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101859m	[env.py: 870]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.70265512 -0.80451737 -0.10185942] yaw=-85.4deg	[env.py: 1019]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40261339 -0.80614136 -0.10185942] yaw=-82.9deg	[env.py: 1019]
+05/13 16:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53122214 -0.95618301 -0.10185942] yaw=-87.7deg	[env.py: 1019]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.703, -0.805, -0.102)	[env.py: 1079]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.4 deg	[env.py: 1082]
+05/13 16:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 16:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:28 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:28 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 16:08:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:30 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 16:08:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:30 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 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163281m	[env.py: 870]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15112997 -1.13424736 -0.16328132] yaw=-15.1deg	[env.py: 1019]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23270171 -1.11876323 -0.16328132] yaw=-16.8deg	[env.py: 1019]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.263549   -1.14611179 -0.16328132] yaw=-42.0deg	[env.py: 1019]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.1ms	[env.py: 1075]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.134, -0.163)	[env.py: 1079]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.1 deg	[env.py: 1082]
+05/13 16:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:30 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:31 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 16:08:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 371 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:32 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.764[m] 98.853[deg]	[grasp_sample.py: 539]
+05/13 16:08:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:08:33 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:35 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 16:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:35 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 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184678m	[env.py: 870]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46369017 -0.77808366 -0.18467785] yaw=-89.8deg	[env.py: 1019]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=312.3ms, total=312.4ms	[env.py: 1075]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.778, -0.185)	[env.py: 1079]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.8 deg	[env.py: 1082]
+05/13 16:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:35 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:35 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 16:08:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 349 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:36 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 16:08:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.491s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:08:38 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:38 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 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149941m	[env.py: 870]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78933858 -0.89347179 -0.14994061] yaw=-64.2deg	[env.py: 1019]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.4ms, total=211.4ms	[env.py: 1075]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.789, -0.893, -0.150)	[env.py: 1079]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg	[env.py: 1082]
+05/13 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:38 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:38 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 16:08:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:39 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 16:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:39 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 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193915m	[env.py: 870]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69276678 -0.91985571 -0.19391488] yaw=-50.9deg	[env.py: 1019]
+05/13 16:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54074182 -0.9970027  -0.19391488] yaw=-60.9deg	[env.py: 1019]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1360885  -1.19690044 -0.19391488] yaw=-27.6deg	[env.py: 1019]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms	[env.py: 1075]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.693, -0.920, -0.194)	[env.py: 1079]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg	[env.py: 1082]
+05/13 16:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 16:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:40 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:40 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 16:08:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:08:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.624[m] 85.612[deg]	[grasp_sample.py: 539]
+05/13 16:08:43 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:44 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 16:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:44 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 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192189m	[env.py: 870]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44599769 -0.91756601 -0.19218927] yaw=-70.2deg	[env.py: 1019]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.74903315 -0.94257495 -0.19218927] yaw=-102.4deg	[env.py: 1019]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.9ms, total=263.0ms	[env.py: 1075]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.918, -0.192)	[env.py: 1079]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/13 16:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:45 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:45 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 16:08:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:08:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.653[m] 88.830[deg]	[grasp_sample.py: 539]
+05/13 16:08:49 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:08:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:08:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:08:50 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 16:08:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 488 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:51 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 16:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:51 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 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176773m	[env.py: 870]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09729399 -1.09092161 -0.17677337] yaw=-53.1deg	[env.py: 1019]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=584.0ms, total=584.1ms	[env.py: 1075]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.091, -0.177)	[env.py: 1079]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg	[env.py: 1082]
+05/13 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:52 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:52 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 16:08:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:08:53 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.048[m] 6.940[deg]	[grasp_sample.py: 539]
+05/13 16:08:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:08:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:08:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:08:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.716s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:08:54 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:08:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:08:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:08:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:08:56 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 16:08:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:08:56 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 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145477m	[env.py: 870]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:08:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61535379 -0.77741219 -0.1454774 ] yaw=-81.7deg	[env.py: 1019]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66925899 -0.79547549 -0.1454774 ] yaw=-97.1deg	[env.py: 1019]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50650646 -1.023973   -0.1454774 ] yaw=-47.6deg	[env.py: 1019]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:08:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=434.5ms, total=434.6ms	[env.py: 1075]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.777, -0.145)	[env.py: 1079]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.7 deg	[env.py: 1082]
+05/13 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:08:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:08:57 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:08:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:08:57 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 16:08:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:08:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 355 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:08:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:02 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:09:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.197s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:02 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.734[m] 97.054[deg]	[grasp_sample.py: 539]
+05/13 16:09:03 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:09:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.992s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.775[m] 105.482[deg]	[grasp_sample.py: 539]
+05/13 16:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:05 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 16:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:05 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 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142697m	[env.py: 870]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50303925 -0.90406287 -0.14269689] yaw=-69.8deg	[env.py: 1019]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00772367 -1.36052754 -0.14269689] yaw=-49.2deg	[env.py: 1019]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68412421 -0.76486957 -0.14269689] yaw=-74.0deg	[env.py: 1019]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=384.9ms, total=385.0ms	[env.py: 1075]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.904, -0.143)	[env.py: 1079]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg	[env.py: 1082]
+05/13 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:09:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:06 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:06 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 16:09:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:09:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:09:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.244s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:11 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.718[m] 100.195[deg]	[grasp_sample.py: 539]
+05/13 16:09:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:09:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:09:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:12 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 16:09:21 INFO: [Worker 0] Object is not in grasp! 0.00190 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:09:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:09:21 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 16:09:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 492 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:22 INFO: [Worker 0] Feasible grasp found 295 (originally 295): w/ 0.080[m] 7.212[deg]	[grasp_sample.py: 539]
+05/13 16:09:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:09:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:09:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:27 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:09:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:09:27 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 16:09:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:09:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:09:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:09:40 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 16:09:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:09:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:09:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.26s (batch: 4.16s, save: 10.10s)	[pipeline.py: 300]
+05/13 16:09:42 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=1.68s:
+  episode_total: mean=88.22s, total=176.45s, count=2, min=3632.9ms, max=172815.7ms
+  sensor_polling: mean=422.5ms, total=117.44s, count=278, min=364.6ms, max=802.5ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10103.5ms, max=10103.5ms
+  physics_step: mean=23.8ms, total=6.62s, count=278, min=21.4ms, max=43.7ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.4ms, max=4157.4ms
+  task_sampling: mean=839.9ms, total=1.68s, count=2, min=704.7ms, max=975.1ms
+  task_specific_sample: mean=835.8ms, total=1.67s, count=2, min=700.8ms, max=970.8ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=451.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, 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 16:09:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:43 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 16:09:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:43 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 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181726m	[env.py: 870]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:43 INFO: [Worker 0] Feasible grasp found 220 (originally 220): w/ 0.278[m] 25.807[deg]	[grasp_sample.py: 539]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69574771 -0.71035419 -0.18172633] yaw=-101.9deg	[env.py: 1019]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.696, -0.710, -0.182)	[env.py: 1079]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.9 deg	[env.py: 1082]
+05/13 16:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:44 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:09:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:09:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:44 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 16:09:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 344 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:09:44 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:09:44 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=4.92s:
+  episode_total: mean=27.57s, total=220.57s, count=8, min=298.6ms, max=142443.9ms
+  sensor_polling: mean=413.8ms, total=137.38s, count=332, min=341.1ms, max=858.6ms
+  physics_step: mean=25.1ms, total=8.34s, count=332, min=17.3ms, max=45.0ms
+  task_specific_sample: mean=646.9ms, total=5.18s, count=8, min=287.7ms, max=843.9ms
+  task_sampling: mean=702.3ms, total=4.92s, count=7, min=546.6ms, max=848.3ms
+  task_sampling_failed: mean=298.6ms, total=298.6ms, count=1, min=298.6ms, max=298.6ms
+  scene_randomize: mean=1.9ms, total=15.4ms, count=8, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=571.7us, total=4.6ms, count=8, min=0.4ms, max=0.8ms
+  policy_setup: mean=26.7us, total=0.2ms, count=7, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:46 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 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182376m	[env.py: 870]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23582436 -0.9808563  -0.18237609] yaw=-34.9deg	[env.py: 1019]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3613235  -1.04573163 -0.18237609] yaw=-27.1deg	[env.py: 1019]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=270.2ms, total=270.3ms	[env.py: 1075]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -0.981, -0.182)	[env.py: 1079]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg	[env.py: 1082]
+05/13 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.715s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:09:47 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:09:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:47 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:47 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 16:09:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:48 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 16:09:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:48 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 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138281m	[env.py: 870]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33680916 -1.04108506 -0.13828087] yaw=-35.9deg	[env.py: 1019]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67027376 -0.89109127 -0.13828087] yaw=-90.4deg	[env.py: 1019]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms	[env.py: 1075]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.041, -0.138)	[env.py: 1079]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg	[env.py: 1082]
+05/13 16:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:48 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:49 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 16:09:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.632s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:09:50 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:09:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:51 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 16:09:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:51 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 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185973m	[env.py: 870]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=270.4ms, total=270.5ms	[env.py: 1105]
+05/13 16:09:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:09:52 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:09:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:09:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:53 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 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197803m	[env.py: 870]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.78976092 -0.92346341 -0.19780316] yaw=-69.4deg	[env.py: 1019]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2389134  -1.21294759 -0.19780316] yaw=-48.9deg	[env.py: 1019]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.3ms, total=340.3ms	[env.py: 1075]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.790, -0.923, -0.198)	[env.py: 1079]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg	[env.py: 1082]
+05/13 16:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:54 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:54 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.705[m] 89.487[deg]	[grasp_sample.py: 539]
+05/13 16:09:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:09:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:55 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:09:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:09:55 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.590[m] 97.713[deg]	[grasp_sample.py: 539]
+05/13 16:09:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:57 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 16:09:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117531m	[env.py: 870]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:57 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=215.9ms, total=216.0ms	[env.py: 1105]
+05/13 16:09:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:09:57 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 16:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:58 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 16:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:58 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 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165080m	[env.py: 870]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29473902 -1.24393035 -0.16507962] yaw=-18.3deg	[env.py: 1019]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:09:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:09:58 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 16:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:09:58 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 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129563m	[env.py: 870]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5079128  -0.83538012 -0.16507962] yaw=-48.7deg	[env.py: 1019]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34408268 -1.05017744 -0.16507962] yaw=-40.5deg	[env.py: 1019]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=125.4ms, total=125.5ms	[env.py: 1075]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.244, -0.165)	[env.py: 1079]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.3 deg	[env.py: 1082]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:09:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:59 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05318097 -1.3055846  -0.12956285] yaw=-43.6deg	[env.py: 1019]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=365.0ms, total=365.0ms	[env.py: 1075]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -1.306, -0.130)	[env.py: 1079]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg	[env.py: 1082]
+05/13 16:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 16:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:09:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:59 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 16:09:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 367 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:09:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:09:59 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:09:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:09:59 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 16:09:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:09:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.078s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:10:02 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.585[m] 83.428[deg]	[grasp_sample.py: 539]
+05/13 16:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.055s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:10:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:10:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:03 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 16:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:10:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:10:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:10:05 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 16:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:10:05 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 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116665m	[env.py: 870]
+05/13 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.76156341 -0.67230036 -0.11666471] yaw=-56.4deg	[env.py: 1019]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68267412 -0.97655344 -0.11666471] yaw=-47.5deg	[env.py: 1019]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=351.4ms, total=351.4ms	[env.py: 1075]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.762, -0.672, -0.117)	[env.py: 1079]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/13 16:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 16:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:10:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:10:06 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:10:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:10:06 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 16:10:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:10:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.677s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:10:09 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:10:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:10:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:10:11 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 16:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:10:11 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 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164560m	[env.py: 870]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26244648 -0.99454411 -0.16456016] yaw=-47.1deg	[env.py: 1019]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.1ms, total=417.2ms	[env.py: 1075]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -0.995, -0.165)	[env.py: 1079]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/13 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:10:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:10:11 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:10:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:10:11 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 16:10:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:10:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:10:17 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.715[m] 88.111[deg]	[grasp_sample.py: 539]
+05/13 16:10:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:10:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:10:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:10:25 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 16:10:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:10:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 358 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:10:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:10:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:10:26 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.118[m] 14.506[deg]	[grasp_sample.py: 539]
+05/13 16:10:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:10:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:10:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:10:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:10:38 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 16:10:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:10:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:10:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:10:39 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.168[m] 9.118[deg]	[grasp_sample.py: 539]
+05/13 16:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:10:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:10:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:10:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:11:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:11:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:11:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:11:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:11:16 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:11:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:11:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:11:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:11:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:11:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:11:42 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 16:11:50 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:11:55 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:11:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:11:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:11:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.38s (batch: 4.19s, save: 11.18s)	[pipeline.py: 300]
+05/13 16:11:58 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=4.68s:
+  episode_total: mean=32.68s, total=261.46s, count=8, min=3838.3ms, max=182386.5ms
+  sensor_polling: mean=421.0ms, total=143.15s, count=340, min=377.9ms, max=809.0ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11183.8ms, max=11183.8ms
+  physics_step: mean=24.3ms, total=8.27s, count=340, min=17.4ms, max=92.8ms
+  task_sampling: mean=585.1ms, total=4.68s, count=8, min=400.7ms, max=895.2ms
+  task_specific_sample: mean=581.3ms, total=4.65s, count=8, min=396.5ms, max=891.0ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.1ms, max=4192.1ms
+  scene_randomize: mean=1.8ms, total=14.4ms, count=8, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=468.9us, total=3.8ms, count=8, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.3us, total=0.2ms, 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 16:12:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:12:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:00 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 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189383m	[env.py: 870]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28820819 -1.19801171 -0.189383  ] yaw=-31.4deg	[env.py: 1019]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62418537 -0.9075154  -0.189383  ] yaw=-92.1deg	[env.py: 1019]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85504827 -0.78547154 -0.189383  ] yaw=-77.9deg	[env.py: 1019]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:00 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 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.198, -0.189)	[env.py: 1079]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.4 deg	[env.py: 1082]
+05/13 16:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:12:00 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:12:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:12:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:12:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:12:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:12:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.593[m] 83.824[deg]	[grasp_sample.py: 539]
+05/13 16:12:05 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:06 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 16:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:06 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 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121618m	[env.py: 870]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30032453 -1.22061662 -0.12161781] yaw=-31.6deg	[env.py: 1019]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.7ms, total=228.8ms	[env.py: 1075]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.221, -0.122)	[env.py: 1079]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.6 deg	[env.py: 1082]
+05/13 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:12:07 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:12:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:12:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:12:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:12:10 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.631[m] 93.852[deg]	[grasp_sample.py: 539]
+05/13 16:12:11 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:12:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:12 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 16:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:12 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 16:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195873m	[env.py: 870]
+05/13 16:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22038415 -1.02219478 -0.19587346] yaw=-38.0deg	[env.py: 1019]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56382252 -1.02583817 -0.19587346] yaw=-81.4deg	[env.py: 1019]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.6ms	[env.py: 1075]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.022, -0.196)	[env.py: 1079]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg	[env.py: 1082]
+05/13 16:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:12:13 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:12:13 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 16:12:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:12:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:12:14 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:12:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:12:14 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 16:12:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:12:17 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.719[m] 86.756[deg]	[grasp_sample.py: 539]
+05/13 16:12:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:12:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:12:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:12:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:12:20 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:12:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:12:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:12:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:12:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:12:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:12:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.77s (batch: 4.13s, save: 9.64s)	[pipeline.py: 300]
+05/13 16:12:28 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.41s:
+  episode_total: mean=40.18s, total=160.74s, count=4, min=227.0ms, max=149802.7ms
+  sensor_polling: mean=393.1ms, total=99.05s, count=252, min=364.7ms, max=679.9ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9644.5ms, max=9644.5ms
+  physics_step: mean=23.5ms, total=5.91s, count=252, min=16.5ms, max=33.3ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.4ms, max=4129.4ms
+  task_specific_sample: mean=405.3ms, total=1.62s, count=4, min=222.5ms, max=533.2ms
+  task_sampling: mean=469.6ms, total=1.41s, count=3, min=389.6ms, max=537.5ms
+  task_sampling_failed: mean=227.0ms, total=227.0ms, count=1, min=227.0ms, max=227.0ms
+  scene_randomize: mean=1.9ms, total=7.5ms, count=4, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=445.1us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.8us, 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 16:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:29 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 16:12:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:29 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 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173075m	[env.py: 870]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43335443 -1.03652133 -0.17307532] yaw=-62.4deg	[env.py: 1019]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26072219 -1.26122611 -0.17307532] yaw=-18.4deg	[env.py: 1019]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.4ms, total=242.5ms	[env.py: 1075]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -1.037, -0.173)	[env.py: 1079]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg	[env.py: 1082]
+05/13 16:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 16:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:12:30 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:12:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:12:30 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 16:12:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:12:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:12:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:12:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 90.988[deg]	[grasp_sample.py: 539]
+05/13 16:12:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:12:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:12:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:12:34 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 16:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.75s (batch: 4.25s, save: 11.50s)	[pipeline.py: 300]
+05/13 16:12:39 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=7.42s:
+  episode_total: mean=29.98s, total=329.81s, count=11, min=3253.0ms, max=213640.2ms
+  sensor_polling: mean=421.4ms, total=151.71s, count=360, min=374.7ms, max=861.6ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11500.1ms, max=11500.1ms
+  physics_step: mean=24.0ms, total=8.63s, count=360, min=16.7ms, max=66.7ms
+  task_sampling: mean=674.3ms, total=7.42s, count=11, min=448.6ms, max=1043.1ms
+  task_specific_sample: mean=670.9ms, total=7.38s, count=11, min=446.0ms, max=1040.5ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4253.0ms, max=4253.0ms
+  scene_randomize: mean=1.6ms, total=18.1ms, count=11, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=462.4us, total=5.1ms, count=11, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.2ms, count=11, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:12:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:40 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 16:12:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:40 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 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182682m	[env.py: 870]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75829684 -0.94798841 -0.18268218] yaw=-71.5deg	[env.py: 1019]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.573493   -0.8133159  -0.18268218] yaw=-43.1deg	[env.py: 1019]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26905608 -1.22813033 -0.18268218] yaw=-29.0deg	[env.py: 1019]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.6ms, total=177.7ms	[env.py: 1075]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.758, -0.948, -0.183)	[env.py: 1079]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg	[env.py: 1082]
+05/13 16:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:12:40 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:12:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:12:41 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 16:12:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:12:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:12:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.257s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:12:42 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.589[m] 86.784[deg]	[grasp_sample.py: 539]
+05/13 16:12:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:12:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:12:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:12:43 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:12:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 16:12:43 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 16:12:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:12:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:12:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.25s (batch: 3.82s, save: 10.43s)	[pipeline.py: 300]
+05/13 16:12:58 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=3.29s:
+  episode_total: mean=30.32s, total=181.95s, count=6, min=284.0ms, max=167095.3ms
+  sensor_polling: mean=408.7ms, total=112.81s, count=276, min=356.8ms, max=781.4ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10426.1ms, max=10426.1ms
+  physics_step: mean=25.5ms, total=7.04s, count=276, min=16.2ms, max=67.5ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3822.1ms, max=3822.1ms
+  task_specific_sample: mean=591.4ms, total=3.55s, count=6, min=276.3ms, max=729.8ms
+  task_sampling: mean=657.3ms, total=3.29s, count=5, min=583.6ms, max=733.5ms
+  task_sampling_failed: mean=283.9ms, total=283.9ms, count=1, min=283.9ms, max=283.9ms
+  scene_randomize: mean=1.3ms, total=7.6ms, count=6, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=465.3us, total=2.8ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.5us, 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 16:12:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:12:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:12:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:12:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:12:59 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 16:12:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:12:59 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 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161063m	[env.py: 870]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:12:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.8929704  -0.76103039 -0.16106348] yaw=-78.9deg	[env.py: 1019]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:12:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.1ms, total=184.1ms	[env.py: 1075]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.893, -0.761, -0.161)	[env.py: 1079]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.9 deg	[env.py: 1082]
+05/13 16:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:13:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:13:00 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:13:00 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 16:13:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:13:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 346 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:13:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.986s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:13:04 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.719[m] 98.506[deg]	[grasp_sample.py: 539]
+05/13 16:13:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:13:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:13:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:13:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:13:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:13:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:13:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:13:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:13:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:05 INFO: [Worker 0] Object is not in grasp! 0.00105 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:14:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:14:05 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 16:14:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:14:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 169 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:06 INFO: [Worker 0] Feasibility-checked 169 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:14:06 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.068[m] 0.603[deg]	[grasp_sample.py: 539]
+05/13 16:14:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:14:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:14:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:14:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:14:18 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 16:14:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:14:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:14:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:14:21 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:14:22 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.073[m] 4.848[deg]	[grasp_sample.py: 539]
+05/13 16:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:14:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:14:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:14:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:14:25 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 16:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:14:25 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 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154470m	[env.py: 870]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81397927 -0.81838517 -0.15446988] yaw=-100.4deg	[env.py: 1019]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.85983084 -0.85737847 -0.15446988] yaw=-99.4deg	[env.py: 1019]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.0ms, total=216.0ms	[env.py: 1075]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.814, -0.818, -0.154)	[env.py: 1079]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.4 deg	[env.py: 1082]
+05/13 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:14:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:14:26 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:14:26 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 16:14:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:14:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 356 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:14:29 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:14:32 INFO: [Worker 0] Object is not in grasp! 0.00089 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:14:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:14:32 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 16:14:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:14:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 197 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:14:33 INFO: [Worker 0] Feasibility-checked 197 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:14:33 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.064[m] 0.325[deg]	[grasp_sample.py: 539]
+05/13 16:14:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:14:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:14:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.832s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:14:36 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.714[m] 90.239[deg]	[grasp_sample.py: 539]
+05/13 16:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:14:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:14:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:14:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:14:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:14:47 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/13 16:14:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:14:53 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:14:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:14:53 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 16:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:58 INFO: [Worker 0] Object is not in grasp! 0.00163 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:14:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:14:58 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 16:14:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:14:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 165 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:14:58 INFO: [Worker 0] Feasibility-checked 165 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:14:58 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.067[m] 0.540[deg]	[grasp_sample.py: 539]
+05/13 16:14:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:14:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:14:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:15:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:15:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.12s (batch: 4.04s, save: 10.08s)	[pipeline.py: 300]
+05/13 16:15:02 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=1.49s:
+  episode_total: mean=59.54s, total=178.63s, count=3, min=4774.5ms, max=169062.1ms
+  sensor_polling: mean=413.2ms, total=114.45s, count=277, min=383.5ms, max=732.3ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.4ms, max=10080.4ms
+  physics_step: mean=23.8ms, total=6.59s, count=277, min=20.4ms, max=68.8ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4039.3ms, max=4039.3ms
+  task_sampling: mean=495.7ms, total=1.49s, count=3, min=471.0ms, max=527.7ms
+  task_specific_sample: mean=491.8ms, total=1.48s, count=3, min=466.7ms, max=523.5ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=445.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, 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 16:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:03 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 16:15:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:03 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 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193013m	[env.py: 870]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=235.0ms, total=235.1ms	[env.py: 1105]
+05/13 16:15:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:15:03 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 16:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:05 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 16:15:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:05 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 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144275m	[env.py: 870]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88521729 -0.8998746  -0.14427519] yaw=-68.2deg	[env.py: 1019]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=376.4ms, total=376.4ms	[env.py: 1075]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.885, -0.900, -0.144)	[env.py: 1079]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg	[env.py: 1082]
+05/13 16:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:05 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:05 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 16:15:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:15:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:15:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.74s (batch: 4.00s, save: 9.74s)	[pipeline.py: 300]
+05/13 16:15:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.141s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:07 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.654[m] 95.564[deg]	[grasp_sample.py: 539]
+05/13 16:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:07 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.55s:
+  episode_total: mean=157.72s, total=157.72s, count=1, min=157722.3ms, max=157722.3ms
+  sensor_polling: mean=393.3ms, total=102.66s, count=261, min=370.6ms, max=663.0ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9739.9ms, max=9739.9ms
+  physics_step: mean=22.9ms, total=5.99s, count=261, min=16.6ms, max=28.3ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.7ms, max=3998.7ms
+  task_sampling: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms
+  task_specific_sample: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.3us, 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 16:15:08 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:15:08 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:15:08 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=0.49s:
+  episode_total: mean=148.18s, total=148.18s, count=1, min=148176.6ms, max=148176.6ms
+  sensor_polling: mean=418.0ms, total=125.39s, count=300, min=379.2ms, max=807.9ms
+  physics_step: mean=24.5ms, total=7.36s, count=300, min=17.4ms, max=35.6ms
+  task_sampling: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
+  task_specific_sample: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=623.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:15:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:15:08 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 16:15:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:09 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 16:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:09 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 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124848m	[env.py: 870]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18900273 -1.35971059 -0.12484771] yaw=-45.8deg	[env.py: 1019]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.360, -0.125)	[env.py: 1079]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg	[env.py: 1082]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:09 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:09 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 16:15:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:09 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 16:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:09 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 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118646m	[env.py: 870]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38033941 -1.13206444 -0.11864611] yaw=-42.7deg	[env.py: 1019]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=213.4ms, total=213.4ms	[env.py: 1075]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.132, -0.119)	[env.py: 1079]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg	[env.py: 1082]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:10 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:10 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 16:15:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:10 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 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104185m	[env.py: 870]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:10 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 16:15:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12644448 -1.19709132 -0.10418471] yaw=-59.8deg	[env.py: 1019]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=224.6ms, total=224.7ms	[env.py: 1075]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.197, -0.104)	[env.py: 1079]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/13 16:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.951s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 82.999[deg]	[grasp_sample.py: 539]
+05/13 16:15:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:15:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:10 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:10 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 16:15:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:15:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:11 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 16:15:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.844s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:15:13 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:15:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:14 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.645[m] 87.906[deg]	[grasp_sample.py: 539]
+05/13 16:15:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:15:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:15 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 16:15:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159288m	[env.py: 870]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.1796597  -1.2402035  -0.15928751] yaw=-58.0deg	[env.py: 1019]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:15:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=382.7ms, total=382.8ms	[env.py: 1075]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.240, -0.159)	[env.py: 1079]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/13 16:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:16 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:16 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 16:15:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:15:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:17 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.578[m] 64.739[deg]	[grasp_sample.py: 539]
+05/13 16:15:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:15:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:15:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.691[m] 83.826[deg]	[grasp_sample.py: 539]
+05/13 16:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:20 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:15:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:15:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:15:21 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 16:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:15:21 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 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171241m	[env.py: 870]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:15:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22635195 -1.30823645 -0.17124122] yaw=-53.6deg	[env.py: 1019]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=539.7ms, total=539.8ms	[env.py: 1075]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.308, -0.171)	[env.py: 1079]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/13 16:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:15:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:15:22 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:15:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:15:22 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 16:15:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:26 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.624[m] 91.399[deg]	[grasp_sample.py: 539]
+05/13 16:15:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:15:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:15:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:27 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 16:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:15:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:15:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:15:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:15:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:15:38 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.578[m] 64.742[deg]	[grasp_sample.py: 539]
+05/13 16:15:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:15:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:15:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:15:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:15:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:15:52 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 16:15:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:15:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:16:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.003s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:16:00 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.578[m] 64.742[deg]	[grasp_sample.py: 539]
+05/13 16:16:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:16:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:16:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:16:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:16:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:16:14 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:16:14 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=False episode_total=0.97s:
+  episode_total: mean=96.26s, total=192.51s, count=2, min=84071.7ms, max=108438.5ms
+  sensor_polling: mean=406.2ms, total=89.36s, count=220, min=359.6ms, max=872.2ms
+  physics_step: mean=23.0ms, total=5.05s, count=220, min=14.3ms, max=30.7ms
+  task_sampling: mean=484.9ms, total=969.7ms, count=2, min=478.7ms, max=491.1ms
+  task_specific_sample: mean=481.1ms, total=962.2ms, count=2, min=474.6ms, max=487.6ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms
+  mj_forward_sync: mean=441.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  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 16:16:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:16:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:16:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:16:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:16:15 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 16:16:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:16:15 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 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155220m	[env.py: 870]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:16:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77270706 -0.87425936 -0.15522001] yaw=-95.2deg	[env.py: 1019]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.85769405 -0.76253524 -0.15522001] yaw=-61.4deg	[env.py: 1019]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28825398 -0.93064897 -0.15522001] yaw=-69.5deg	[env.py: 1019]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:16:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=197.9ms, total=197.9ms	[env.py: 1075]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.773, -0.874, -0.155)	[env.py: 1079]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.2 deg	[env.py: 1082]
+05/13 16:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:16:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:16:16 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:16:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:16:16 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 16:16:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:16:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 356 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:16:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:16:17 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.676[m] 94.584[deg]	[grasp_sample.py: 539]
+05/13 16:16:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:16:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:16:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:16:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:16:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:16:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:16:46 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 16:16:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:16:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:16:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:16:49 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.548[m] 69.706[deg]	[grasp_sample.py: 539]
+05/13 16:16:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:16:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:16:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:01 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:17:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:17:03 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 16:17:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:17:05 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.548[m] 69.709[deg]	[grasp_sample.py: 539]
+05/13 16:17:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:17:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:17:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:16 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:18 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:17:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:17:19 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 16:17:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.746s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:17:22 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.548[m] 69.709[deg]	[grasp_sample.py: 539]
+05/13 16:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:17:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:17:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:25 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:17:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:17:25 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 16:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:17:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:17:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:17:36 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:17:36 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=0.50s:
+  episode_total: mean=80.47s, total=80.47s, count=1, min=80467.0ms, max=80467.0ms
+  sensor_polling: mean=405.7ms, total=28.81s, count=71, min=360.6ms, max=682.7ms
+  physics_step: mean=20.7ms, total=1.47s, count=71, min=14.2ms, max=29.5ms
+  task_sampling: mean=498.2ms, total=498.2ms, count=1, min=498.2ms, max=498.2ms
+  task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=434.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:37 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 16:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:37 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 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146513m	[env.py: 870]
+05/13 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=704.5ms, total=704.5ms	[env.py: 1105]
+05/13 16:17:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:17:38 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:17:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:17:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.66s (batch: 4.18s, save: 10.48s)	[pipeline.py: 300]
+05/13 16:17:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:17:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:17:40 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 16:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:41 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 16:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:41 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 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197098m	[env.py: 870]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:41 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.56s:
+  episode_total: mean=152.24s, total=152.24s, count=1, min=152235.4ms, max=152235.4ms
+  sensor_polling: mean=386.2ms, total=101.96s, count=264, min=366.1ms, max=661.1ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10480.8ms, max=10480.8ms
+  physics_step: mean=23.0ms, total=6.07s, count=264, min=21.1ms, max=27.5ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.3ms, max=4177.3ms
+  task_sampling: mean=560.3ms, total=560.3ms, count=1, min=560.3ms, max=560.3ms
+  task_specific_sample: mean=556.4ms, total=556.4ms, count=1, min=556.4ms, max=556.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=433.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53054441 -0.74268069 -0.19709824] yaw=-73.2deg	[env.py: 1019]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.7ms, total=244.8ms	[env.py: 1075]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.531, -0.743, -0.197)	[env.py: 1079]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg	[env.py: 1082]
+05/13 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:41 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:17:41 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 16:17:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:17:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:42 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 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134274m	[env.py: 870]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33187178 -0.87982867 -0.1342739 ] yaw=-29.1deg	[env.py: 1019]
+05/13 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.5ms	[env.py: 1075]
+05/13 16:17:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.880, -0.134)	[env.py: 1079]
+05/13 16:17:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.1 deg	[env.py: 1082]
+05/13 16:17:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 16:17:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:43 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:17:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:17:43 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 16:17:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:43 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:17:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:17:43 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 16:17:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.877s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:17:44 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:17:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:46 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 16:17:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111461m	[env.py: 870]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.875s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:17:46 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.915192   -0.88444826 -0.1114613 ] yaw=-115.6deg	[env.py: 1019]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=300.9ms, total=300.9ms	[env.py: 1075]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.915, -0.884, -0.111)	[env.py: 1079]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.6 deg	[env.py: 1082]
+05/13 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:46 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:17:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:17:46 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 16:17:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:47 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 16:17:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:47 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 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177774m	[env.py: 870]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20370362 -1.13347939 -0.17777362] yaw=-46.8deg	[env.py: 1019]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20486868 -1.0369347  -0.17777362] yaw=-54.4deg	[env.py: 1019]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28474052 -1.15974576 -0.17777362] yaw=-24.5deg	[env.py: 1019]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.5ms, total=223.6ms	[env.py: 1075]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.133, -0.178)	[env.py: 1079]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:17:48 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.706[m] 78.303[deg]	[grasp_sample.py: 539]
+05/13 16:17:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:17:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:17:48 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 16:17:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:17:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:17:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.621s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:17:55 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.685[m] 87.513[deg]	[grasp_sample.py: 539]
+05/13 16:17:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:17:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:17:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.46s (batch: 4.46s, save: 10.01s)	[pipeline.py: 300]
+05/13 16:17:56 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.18s:
+  episode_total: mean=56.61s, total=169.84s, count=3, min=249.4ms, max=166267.1ms
+  sensor_polling: mean=416.1ms, total=110.27s, count=265, min=379.2ms, max=714.0ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10005.8ms, max=10005.8ms
+  physics_step: mean=24.8ms, total=6.57s, count=265, min=17.2ms, max=99.4ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4455.8ms, max=4455.8ms
+  task_specific_sample: mean=472.6ms, total=1.42s, count=3, min=243.1ms, max=710.1ms
+  task_sampling: mean=590.6ms, total=1.18s, count=2, min=467.2ms, max=714.0ms
+  task_sampling_failed: mean=249.4ms, total=249.4ms, count=1, min=249.4ms, max=249.4ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=520.2us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:17:56 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:17:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:17:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:17:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.01s (batch: 4.10s, save: 9.91s)	[pipeline.py: 300]
+05/13 16:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:57 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 16:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:57 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 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162722m	[env.py: 870]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10185044 -1.20834148 -0.16272224] yaw=-46.8deg	[env.py: 1019]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01718766 -1.22252083 -0.16272224] yaw=-48.6deg	[env.py: 1019]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=215.1ms, total=215.1ms	[env.py: 1075]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.208, -0.163)	[env.py: 1079]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:57 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 16:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:57 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 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192082m	[env.py: 870]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:58 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.99s:
+  episode_total: mean=54.97s, total=164.90s, count=3, min=3563.5ms, max=156665.2ms
+  sensor_polling: mean=400.9ms, total=103.85s, count=259, min=370.8ms, max=748.5ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9909.7ms, max=9909.7ms
+  physics_step: mean=23.3ms, total=6.04s, count=259, min=21.3ms, max=31.1ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.3ms, max=4102.3ms
+  task_sampling: mean=663.4ms, total=1.99s, count=3, min=516.0ms, max=796.2ms
+  task_specific_sample: mean=659.5ms, total=1.98s, count=3, min=511.2ms, max=793.4ms
+  scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=526.2us, total=1.6ms, count=3, min=0.4ms, max=0.7ms
+  policy_setup: mean=16.9us, 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 16:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=320.6ms, total=320.6ms	[env.py: 1105]
+05/13 16:17:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:17:58 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:17:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:58 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:17:58 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 16:17:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:17:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:17:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:17:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:17:59 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 16:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126472m	[env.py: 870]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:59 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 16:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:17:59 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 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111924m	[env.py: 870]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28720694 -1.12101255 -0.1264724 ] yaw=-42.7deg	[env.py: 1019]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72600812 -0.89229813 -0.11192418] yaw=-94.7deg	[env.py: 1019]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67989104 -0.83584451 -0.1264724 ] yaw=-83.5deg	[env.py: 1019]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08397143 -1.30986757 -0.1264724 ] yaw=-52.7deg	[env.py: 1019]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=232.0ms	[env.py: 1075]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -1.121, -0.126)	[env.py: 1079]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg	[env.py: 1082]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48308014 -0.86034978 -0.11192418] yaw=-41.7deg	[env.py: 1019]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:17:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.5ms, total=237.5ms	[env.py: 1075]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.726, -0.892, -0.112)	[env.py: 1079]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.7 deg	[env.py: 1082]
+05/13 16:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:17:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:17:59 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:00 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:00 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 16:18:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:00 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 16:18:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 343 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.802s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:18:01 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:18:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.922s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:01 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.678[m] 99.211[deg]	[grasp_sample.py: 539]
+05/13 16:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:02 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 16:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:02 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 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174877m	[env.py: 870]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=387.9ms, total=387.9ms	[env.py: 1105]
+05/13 16:18:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.670[m] 72.972[deg]	[grasp_sample.py: 539]
+05/13 16:18:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:03 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 16:18:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:03 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 16:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139568m	[env.py: 870]
+05/13 16:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36398398 -1.09722897 -0.1395681 ] yaw=-75.1deg	[env.py: 1019]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms	[env.py: 1075]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.097, -0.140)	[env.py: 1079]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg	[env.py: 1082]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:04 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:04 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:04 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 16:18:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:04 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 16:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:04 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 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107439m	[env.py: 870]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.2ms, total=220.3ms	[env.py: 1105]
+05/13 16:18:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:18:04 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:18:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:05 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 16:18:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:05 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 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184787m	[env.py: 870]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50665867 -0.90553653 -0.18478748] yaw=-79.6deg	[env.py: 1019]
+05/13 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=351.9ms, total=352.0ms	[env.py: 1075]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.906, -0.185)	[env.py: 1079]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.6 deg	[env.py: 1082]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:06 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 16:18:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:06 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 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100997m	[env.py: 870]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57462148 -0.88517078 -0.10099726] yaw=-88.7deg	[env.py: 1019]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:06 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50855839 -1.04094046 -0.10099726] yaw=-76.1deg	[env.py: 1019]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:18:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:06 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 16:18:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20032531 -1.23822155 -0.10099726] yaw=-10.7deg	[env.py: 1019]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.6ms, total=137.7ms	[env.py: 1075]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.885, -0.101)	[env.py: 1079]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.7 deg	[env.py: 1082]
+05/13 16:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:06 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:06 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 16:18:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 341 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:08 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.721[m] 87.702[deg]	[grasp_sample.py: 539]
+05/13 16:18:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:11 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.751[m] 92.356[deg]	[grasp_sample.py: 539]
+05/13 16:18:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:11 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 16:18:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171743m	[env.py: 870]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49252431 -0.81878735 -0.17174311] yaw=-34.8deg	[env.py: 1019]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.9ms, total=264.9ms	[env.py: 1075]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.819, -0.172)	[env.py: 1079]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 16:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:12 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.181s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:12 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 16:18:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:12 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:14 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 16:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:14 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 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142098m	[env.py: 870]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31483118 -0.93250332 -0.14209775] yaw=-39.0deg	[env.py: 1019]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=272.5ms, total=272.6ms	[env.py: 1075]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.933, -0.142)	[env.py: 1079]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg	[env.py: 1082]
+05/13 16:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:14 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:18:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.829[m] 86.825[deg]	[grasp_sample.py: 539]
+05/13 16:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:16 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:18:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:18:19 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 16:18:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:19 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 16:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:19 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 16:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157871m	[env.py: 870]
+05/13 16:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41066447 -0.84348085 -0.15787067] yaw=-44.6deg	[env.py: 1019]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54943272 -0.8279902  -0.15787067] yaw=-92.7deg	[env.py: 1019]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=301.6ms, total=301.6ms	[env.py: 1075]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.843, -0.158)	[env.py: 1079]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg	[env.py: 1082]
+05/13 16:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 16:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:20 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:20 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 16:18:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:21 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.537[m] 55.527[deg]	[grasp_sample.py: 539]
+05/13 16:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:21 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 16:18:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:21 INFO: [Worker 0] Feasible grasp found 594 (originally 287): w/ 0.713[m] 97.044[deg]	[grasp_sample.py: 539]
+05/13 16:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:23 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:23 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 16:18:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189443m	[env.py: 870]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81548776 -0.82342539 -0.18944339] yaw=-66.5deg	[env.py: 1019]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61934505 -0.87810065 -0.18944339] yaw=-77.8deg	[env.py: 1019]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.77484032 -0.89849875 -0.18944339] yaw=-85.2deg	[env.py: 1019]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=254.0ms, total=254.1ms	[env.py: 1075]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.815, -0.823, -0.189)	[env.py: 1079]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg	[env.py: 1082]
+05/13 16:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:23 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:23 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 16:18:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.140s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:23 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.788[m] 94.431[deg]	[grasp_sample.py: 539]
+05/13 16:18:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:24 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 16:18:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:24 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 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169672m	[env.py: 870]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08534024 -1.1611776  -0.16967182] yaw=-55.9deg	[env.py: 1019]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04372071 -1.27799856 -0.16967182] yaw=-32.7deg	[env.py: 1019]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64434992 -0.93081618 -0.16967182] yaw=-93.4deg	[env.py: 1019]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=220.5ms, total=220.5ms	[env.py: 1075]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -1.161, -0.170)	[env.py: 1079]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg	[env.py: 1082]
+05/13 16:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.166s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 91.059[deg]	[grasp_sample.py: 539]
+05/13 16:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:25 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:25 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:25 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 16:18:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:26 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 16:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:26 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 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142793m	[env.py: 870]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=335.8ms, total=335.9ms	[env.py: 1105]
+05/13 16:18:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:18:27 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:18:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.368s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:18:27 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:29 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 16:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:29 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 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175966m	[env.py: 870]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.80884003 -0.91019319 -0.1759656 ] yaw=-88.3deg	[env.py: 1019]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=332.4ms, total=332.5ms	[env.py: 1075]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.809, -0.910, -0.176)	[env.py: 1079]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.3 deg	[env.py: 1082]
+05/13 16:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:29 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:30 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 16:18:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:30 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 16:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:30 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 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190579m	[env.py: 870]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24546587 -1.34907435 -0.19057943] yaw=-23.2deg	[env.py: 1019]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78692907 -0.91322471 -0.19057943] yaw=-90.0deg	[env.py: 1019]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=289.3ms, total=289.4ms	[env.py: 1075]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.349, -0.191)	[env.py: 1079]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.2 deg	[env.py: 1082]
+05/13 16:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:30 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:30 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 16:18:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:32 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.605[m] 96.364[deg]	[grasp_sample.py: 539]
+05/13 16:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:18:34 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 16:18:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:35 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 16:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:35 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 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190517m	[env.py: 870]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60485923 -0.97882803 -0.19051738] yaw=-82.3deg	[env.py: 1019]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=226.9ms	[env.py: 1075]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.979, -0.191)	[env.py: 1079]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.3 deg	[env.py: 1082]
+05/13 16:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:35 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:36 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 16:18:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:36 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.537[m] 55.529[deg]	[grasp_sample.py: 539]
+05/13 16:18:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.099s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:37 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.619[m] 95.665[deg]	[grasp_sample.py: 539]
+05/13 16:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:37 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.569[m] 77.378[deg]	[grasp_sample.py: 539]
+05/13 16:18:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:38 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:18:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:18:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:18:41 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 16:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199349m	[env.py: 870]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28442367 -1.28120283 -0.19934881] yaw=-26.0deg	[env.py: 1019]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:18:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.9ms, total=277.9ms	[env.py: 1075]
+05/13 16:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.281, -0.199)	[env.py: 1079]
+05/13 16:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.0 deg	[env.py: 1082]
+05/13 16:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/13 16:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:18:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:18:42 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:18:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:18:42 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 16:18:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.375s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.553[m] 86.859[deg]	[grasp_sample.py: 539]
+05/13 16:18:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:18:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:18:49 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 16:18:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:18:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:18:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.249s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:18:50 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.537[m] 55.529[deg]	[grasp_sample.py: 539]
+05/13 16:18:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:18:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:18:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:19:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:19:04 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:19:04 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=1.14s:
+  episode_total: mean=27.60s, total=82.80s, count=3, min=716.6ms, max=78409.2ms
+  sensor_polling: mean=406.7ms, total=30.91s, count=76, min=360.0ms, max=511.1ms
+  task_specific_sample: mean=613.4ms, total=1.84s, count=3, min=538.2ms, max=710.4ms
+  physics_step: mean=21.9ms, total=1.67s, count=76, min=14.3ms, max=36.4ms
+  task_sampling: mean=568.4ms, total=1.14s, count=2, min=541.0ms, max=595.9ms
+  task_sampling_failed: mean=716.5ms, total=716.5ms, count=1, min=716.5ms, max=716.5ms
+  scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.1ms, max=1.4ms
+  mj_forward_sync: mean=439.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:19:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:19:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:19:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:19:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:19:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:19:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:19:06 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 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177082m	[env.py: 870]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:19:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=494.2ms, total=494.3ms	[env.py: 1105]
+05/13 16:19:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:19:06 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:19:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:19:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:19:09 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 16:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:19:09 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 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173654m	[env.py: 870]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:19:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50716759 -0.75676674 -0.17365385] yaw=-60.8deg	[env.py: 1019]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-2.52254262e-04 -1.31461593e+00 -1.73653847e-01] yaw=-9.5deg	[env.py: 1019]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:19:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=564.2ms, total=564.3ms	[env.py: 1075]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.757, -0.174)	[env.py: 1079]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 16:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 16:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:19:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:19:10 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:19:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:19:10 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 16:19:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:19:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:19:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.543s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:19:13 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:19:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:19:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:19:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:19:14 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 16:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:19:14 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 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143802m	[env.py: 870]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58355822 -0.97095191 -0.14380195] yaw=-54.7deg	[env.py: 1019]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=403.0ms, total=403.1ms	[env.py: 1075]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.971, -0.144)	[env.py: 1079]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg	[env.py: 1082]
+05/13 16:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/13 16:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:19:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:19:15 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:19:15 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 16:19:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:19:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:19:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.654[m] 89.376[deg]	[grasp_sample.py: 539]
+05/13 16:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:19:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:19:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:17 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 16:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:19:49 INFO: [Worker 0] Object is not in grasp! 0.00178 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:19:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:19:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:19:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:19:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 186 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:19:50 INFO: [Worker 0] Feasibility-checked 186 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:19:50 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.062[m] 0.451[deg]	[grasp_sample.py: 539]
+05/13 16:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:19:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:19:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:19:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:20:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:20:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:20:09 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 16:20:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:20:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 161 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:20:10 INFO: [Worker 0] Feasibility-checked 161 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:20:10 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.067[m] 2.183[deg]	[grasp_sample.py: 539]
+05/13 16:20:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:20:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:20:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:20:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:20:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:35 INFO: [Worker 0] Object is not in grasp! 0.00175 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:20:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:20:35 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 16:20:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:20:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 205 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:20:35 INFO: [Worker 0] Feasibility-checked 205 grasps in 0.707s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:20:35 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.063[m] 0.691[deg]	[grasp_sample.py: 539]
+05/13 16:20:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:20:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:20:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:39 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:20:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:44 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:20:48 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:20:48 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=3.79s:
+  episode_total: mean=22.04s, total=176.33s, count=8, min=331.4ms, max=133531.1ms
+  sensor_polling: mean=391.8ms, total=117.55s, count=300, min=366.6ms, max=658.3ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.1ms, max=56.9ms
+  task_specific_sample: mean=512.1ms, total=4.10s, count=8, min=326.9ms, max=602.4ms
+  task_sampling: mean=541.9ms, total=3.79s, count=7, min=477.0ms, max=605.2ms
+  task_sampling_failed: mean=331.3ms, total=331.3ms, count=1, min=331.3ms, max=331.3ms
+  scene_randomize: mean=1.7ms, total=13.5ms, count=8, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=435.2us, total=3.5ms, count=8, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, 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 16:20:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:20:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:20:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:20:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:20:50 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 16:20:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:20:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190493m	[env.py: 870]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:20:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40970419 -0.91670343 -0.19049294] yaw=-54.8deg	[env.py: 1019]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15104682 -1.23688009 -0.19049294] yaw=-13.2deg	[env.py: 1019]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54883935 -0.76772286 -0.19049294] yaw=-53.7deg	[env.py: 1019]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:20:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms	[env.py: 1075]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -0.917, -0.190)	[env.py: 1079]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg	[env.py: 1082]
+05/13 16:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:20:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:20:50 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:20:50 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 16:20:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:20:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:20:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:20:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.710[m] 85.190[deg]	[grasp_sample.py: 539]
+05/13 16:20:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:20:55 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 16:21:04 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:21:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:21:04 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 16:21:08 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:21:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:21:08 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 16:21:10 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:21:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:21:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:21:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.60s (batch: 4.45s, save: 10.14s)	[pipeline.py: 300]
+05/13 16:21:20 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=2.08s:
+  episode_total: mean=32.55s, total=195.30s, count=6, min=231.2ms, max=176946.5ms
+  sensor_polling: mean=428.6ms, total=117.43s, count=274, min=374.1ms, max=719.8ms
+  save_trajectories: mean=10.14s, total=10.14s, count=1, min=10142.9ms, max=10142.9ms
+  physics_step: mean=26.4ms, total=7.23s, count=274, min=16.4ms, max=60.3ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4455.0ms, max=4455.0ms
+  task_specific_sample: mean=448.4ms, total=2.69s, count=6, min=226.9ms, max=589.5ms
+  task_sampling: mean=520.8ms, total=2.08s, count=4, min=404.1ms, max=593.5ms
+  task_sampling_failed: mean=314.3ms, total=628.7ms, count=2, min=231.1ms, max=397.5ms
+  scene_randomize: mean=1.7ms, total=10.1ms, count=6, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=442.5us, total=2.7ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:21:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:21 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 16:21:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:21 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 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100538m	[env.py: 870]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:21:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:21:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.95s (batch: 4.44s, save: 9.50s)	[pipeline.py: 300]
+05/13 16:21:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=256.1ms, total=256.2ms	[env.py: 1105]
+05/13 16:21:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:21:22 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 16:21:22 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=3.49s:
+  episode_total: mean=27.09s, total=189.62s, count=7, min=347.1ms, max=160918.8ms
+  sensor_polling: mean=446.9ms, total=110.82s, count=248, min=382.5ms, max=819.2ms
+  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9502.6ms, max=9502.6ms
+  physics_step: mean=27.0ms, total=6.69s, count=248, min=16.6ms, max=40.6ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4442.6ms, max=4442.6ms
+  task_specific_sample: mean=543.9ms, total=3.81s, count=7, min=342.4ms, max=691.4ms
+  task_sampling: mean=582.0ms, total=3.49s, count=6, min=452.9ms, max=695.7ms
+  task_sampling_failed: mean=347.0ms, total=347.0ms, count=1, min=347.0ms, max=347.0ms
+  scene_randomize: mean=2.2ms, total=15.2ms, count=7, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=455.6us, total=3.2ms, count=7, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:23 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 16:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:23 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 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160083m	[env.py: 870]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34443826 -1.19291762 -0.16008331] yaw=-56.7deg	[env.py: 1019]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.1ms, total=222.1ms	[env.py: 1075]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -1.193, -0.160)	[env.py: 1079]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 16:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:21:24 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:21:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:21:24 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 16:21:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:24 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 16:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:24 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 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177282m	[env.py: 870]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7455008  -0.9251188  -0.17728235] yaw=-79.5deg	[env.py: 1019]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.80807622 -0.93729053 -0.17728235] yaw=-72.3deg	[env.py: 1019]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07205787 -1.20317488 -0.17728235] yaw=-52.6deg	[env.py: 1019]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:21:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=217.0ms, total=217.1ms	[env.py: 1075]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.746, -0.925, -0.177)	[env.py: 1079]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.5 deg	[env.py: 1082]
+05/13 16:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:21:24 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:21:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:21:24 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 16:21:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:21:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:21:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:21:27 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.635[m] 79.921[deg]	[grasp_sample.py: 539]
+05/13 16:21:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:21:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:21:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:21:28 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 16:21:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.890s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:21:28 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.614[m] 85.255[deg]	[grasp_sample.py: 539]
+05/13 16:21:30 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:31 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 16:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:31 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 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188878m	[env.py: 870]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32629256 -0.88420617 -0.18887778] yaw=-32.9deg	[env.py: 1019]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:21:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms	[env.py: 1075]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -0.884, -0.189)	[env.py: 1079]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg	[env.py: 1082]
+05/13 16:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:21:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 16:21:32 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 16:21:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:21:32 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:21:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:21:32 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 16:21:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:21:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:21:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.613s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:21:35 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:21:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:36 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 16:21:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:36 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 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197067m	[env.py: 870]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44794992 -0.87607282 -0.19706664] yaw=-64.3deg	[env.py: 1019]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24822622 -1.2977331  -0.19706664] yaw=-53.4deg	[env.py: 1019]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50170853 -0.96176351 -0.19706664] yaw=-51.3deg	[env.py: 1019]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:21:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.8ms, total=240.8ms	[env.py: 1075]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -0.876, -0.197)	[env.py: 1079]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 16:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:21:37 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:21:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:21:37 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 16:21:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:21:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:21:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:21:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.693[m] 97.722[deg]	[grasp_sample.py: 539]
+05/13 16:21:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:21:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:21:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:21:42 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 16:21:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:21:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:21:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.37s (batch: 3.65s, save: 9.72s)	[pipeline.py: 300]
+05/13 16:21:46 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.64s:
+  episode_total: mean=51.89s, total=155.66s, count=3, min=505.6ms, max=151451.1ms
+  sensor_polling: mean=381.4ms, total=102.21s, count=268, min=351.8ms, max=800.6ms
+  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.5ms, max=9723.5ms
+  physics_step: mean=23.4ms, total=6.26s, count=268, min=16.5ms, max=33.9ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.1ms, max=3645.1ms
+  task_specific_sample: mean=712.6ms, total=2.14s, count=3, min=501.0ms, max=925.9ms
+  task_sampling: mean=822.3ms, total=1.64s, count=2, min=713.8ms, max=930.8ms
+  task_sampling_failed: mean=505.6ms, total=505.6ms, count=1, min=505.6ms, max=505.6ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=432.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, 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 16:21:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:21:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:21:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:21:47 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 16:21:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:21:47 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 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158154m	[env.py: 870]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:21:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.78302398 -0.90233102 -0.15815357] yaw=-79.4deg	[env.py: 1019]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.77931592 -0.71981905 -0.15815357] yaw=-74.9deg	[env.py: 1019]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1082182  -1.10990194 -0.15815357] yaw=-55.6deg	[env.py: 1019]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:21:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=219.3ms, total=219.3ms	[env.py: 1075]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.783, -0.902, -0.158)	[env.py: 1079]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg	[env.py: 1082]
+05/13 16:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:21:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:21:48 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:21:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:21:48 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 16:21:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:21:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:21:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:21:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.633[m] 96.470[deg]	[grasp_sample.py: 539]
+05/13 16:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:21:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:22:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:22:05 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 16:22:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:22:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 83 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:22:08 INFO: [Worker 0] Feasibility-checked 83 grasps in 2.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:22:08 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.034[m] 4.365[deg]	[grasp_sample.py: 539]
+05/13 16:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:22:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:22:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:22:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:22:20 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 16:22:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:22:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:22:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:22:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.469[m] 65.257[deg]	[grasp_sample.py: 539]
+05/13 16:22:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:22:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:22:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:22:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.039s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:22:35 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.469[m] 65.258[deg]	[grasp_sample.py: 539]
+05/13 16:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:22:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:22:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:22:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:22:47 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 16:22:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:22:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:22:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.031s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:22:49 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.469[m] 65.258[deg]	[grasp_sample.py: 539]
+05/13 16:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:22:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:22:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:23:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:23:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:23:02 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:23:02 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=0.54s:
+  episode_total: mean=75.01s, total=75.01s, count=1, min=75014.5ms, max=75014.5ms
+  sensor_polling: mean=378.0ms, total=28.73s, count=76, min=360.2ms, max=816.8ms
+  physics_step: mean=19.3ms, total=1.47s, count=76, min=14.3ms, max=26.2ms
+  task_sampling: mean=535.4ms, total=535.4ms, count=1, min=535.4ms, max=535.4ms
+  task_specific_sample: mean=529.3ms, total=529.3ms, count=1, min=529.3ms, max=529.3ms
+  scene_randomize: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  mj_forward_sync: mean=432.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 16:23:03 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:23:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:23:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:04 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 16:23:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:04 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 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138250m	[env.py: 870]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21666341 -0.94600263 -0.13824982] yaw=-21.4deg	[env.py: 1019]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34802408 -0.95014133 -0.13824982] yaw=-60.2deg	[env.py: 1019]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=244.0ms, total=244.0ms	[env.py: 1075]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.946, -0.138)	[env.py: 1079]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.4 deg	[env.py: 1082]
+05/13 16:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:04 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:04 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 16:23:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.528s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:23:07 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:23:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:23:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:23:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:09 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 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143020m	[env.py: 870]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67180296 -0.75048477 -0.14301961] yaw=-98.3deg	[env.py: 1019]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.8077964  -0.82504391 -0.14301961] yaw=-107.2deg	[env.py: 1019]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=458.9ms, total=459.0ms	[env.py: 1075]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.672, -0.750, -0.143)	[env.py: 1079]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.3 deg	[env.py: 1082]
+05/13 16:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:09 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:23:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 355 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.132s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:23:26 INFO: [Worker 0] Feasible grasp found 380 (originally 73): w/ 0.788[m] 104.289[deg]	[grasp_sample.py: 539]
+05/13 16:23:27 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:29 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 16:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:29 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 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162943m	[env.py: 870]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77111954 -0.88077065 -0.16294339] yaw=-80.8deg	[env.py: 1019]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80043096 -0.78316946 -0.16294339] yaw=-75.2deg	[env.py: 1019]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=230.0ms, total=230.0ms	[env.py: 1075]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.771, -0.881, -0.163)	[env.py: 1079]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.8 deg	[env.py: 1082]
+05/13 16:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:29 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:29 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 16:23:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:30 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:23:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:23:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:23:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:23:31 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.663[m] 90.817[deg]	[grasp_sample.py: 539]
+05/13 16:23:32 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:23:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:34 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 16:23:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:34 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 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196569m	[env.py: 870]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58761612 -0.95708742 -0.19656931] yaw=-56.5deg	[env.py: 1019]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.0ms, total=289.0ms	[env.py: 1075]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.957, -0.197)	[env.py: 1079]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/13 16:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:34 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:34 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 16:23:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:23:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.636[m] 84.869[deg]	[grasp_sample.py: 539]
+05/13 16:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:23:39 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 16:23:39 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:23:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:23:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:23:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.39s (batch: 4.09s, save: 11.29s)	[pipeline.py: 300]
+05/13 16:23:46 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.46s:
+  episode_total: mean=176.02s, total=176.02s, count=1, min=176020.1ms, max=176020.1ms
+  sensor_polling: mean=388.0ms, total=116.40s, count=300, min=361.9ms, max=778.0ms
+  save_trajectories: mean=11.29s, total=11.29s, count=1, min=11294.9ms, max=11294.9ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=16.4ms, max=36.3ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4090.3ms, max=4090.3ms
+  task_sampling: mean=459.3ms, total=459.3ms, count=1, min=459.3ms, max=459.3ms
+  task_specific_sample: mean=456.7ms, total=456.7ms, count=1, min=456.7ms, max=456.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=419.7us, 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 16:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:47 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 16:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:47 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 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128587m	[env.py: 870]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28353962 -0.99338822 -0.12858667] yaw=-66.7deg	[env.py: 1019]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.91310138 -0.82177926 -0.12858667] yaw=-71.7deg	[env.py: 1019]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.1ms, total=240.2ms	[env.py: 1075]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -0.993, -0.129)	[env.py: 1079]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg	[env.py: 1082]
+05/13 16:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:48 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:48 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 16:23:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:23:51 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.723[m] 92.779[deg]	[grasp_sample.py: 539]
+05/13 16:23:52 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:23:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:23:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:23:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:23:53 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 16:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139701m	[env.py: 870]
+05/13 16:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:23:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40263792 -0.93193017 -0.13970147] yaw=-38.2deg	[env.py: 1019]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27268999 -1.14453638 -0.13970147] yaw=-39.5deg	[env.py: 1019]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.932, -0.140)	[env.py: 1079]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg	[env.py: 1082]
+05/13 16:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 16:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:23:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:23:54 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:23:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:23:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:23:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:23:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:23:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.000s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:23:58 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.764[m] 87.600[deg]	[grasp_sample.py: 539]
+05/13 16:23:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:23:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:23:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:23:59 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:23:59 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 16:24:03 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:24:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:24:03 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 16:24:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:24:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:24:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.18s (batch: 3.92s, save: 10.26s)	[pipeline.py: 300]
+05/13 16:24:18 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.53s:
+  episode_total: mean=87.78s, total=175.57s, count=2, min=270.1ms, max=175297.2ms
+  sensor_polling: mean=470.3ms, total=122.27s, count=260, min=378.4ms, max=794.3ms
+  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10261.0ms, max=10261.0ms
+  physics_step: mean=28.0ms, total=7.28s, count=260, min=16.6ms, max=77.5ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.1ms, max=3923.1ms
+  task_specific_sample: mean=397.0ms, total=793.9ms, count=2, min=263.1ms, max=530.8ms
+  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
+  task_sampling_failed: mean=270.1ms, total=270.1ms, count=1, min=270.1ms, max=270.1ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=445.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.6us, 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 16:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:20 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 16:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:20 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 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191404m	[env.py: 870]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15435671 -0.98348088 -0.19140371] yaw=-58.1deg	[env.py: 1019]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=245.0ms, total=245.0ms	[env.py: 1075]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -0.983, -0.191)	[env.py: 1079]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg	[env.py: 1082]
+05/13 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:20 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:21 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 16:24:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.521s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:24:23 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:24:23 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:24:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:24:23 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 16:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:25 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 16:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:25 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 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123705m	[env.py: 870]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.88195724 -0.65174305 -0.1237045 ] yaw=-111.8deg	[env.py: 1019]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=414.5ms, total=414.6ms	[env.py: 1075]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.882, -0.652, -0.124)	[env.py: 1079]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.8 deg	[env.py: 1082]
+05/13 16:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:25 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:25 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 16:24:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.779s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:24:28 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:24:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:31 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 16:24:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:31 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 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130710m	[env.py: 870]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3126455  -0.9266997  -0.13070974] yaw=-79.2deg	[env.py: 1019]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=438.9ms, total=438.9ms	[env.py: 1075]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.927, -0.131)	[env.py: 1079]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.2 deg	[env.py: 1082]
+05/13 16:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:32 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:32 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 16:24:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:24:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.853s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:24:35 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:24:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:24:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:37 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 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119115m	[env.py: 870]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=244.6ms, total=244.6ms	[env.py: 1105]
+05/13 16:24:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:24:38 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 16:24:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:24:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:24:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.36s (batch: 4.39s, save: 10.97s)	[pipeline.py: 300]
+05/13 16:24:39 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.89s:
+  episode_total: mean=64.27s, total=192.81s, count=3, min=3325.5ms, max=183475.0ms
+  sensor_polling: mean=466.8ms, total=127.43s, count=273, min=377.7ms, max=814.6ms
+  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10970.8ms, max=10970.8ms
+  physics_step: mean=27.0ms, total=7.37s, count=273, min=16.7ms, max=73.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.4ms, max=4391.4ms
+  task_sampling: mean=629.0ms, total=1.89s, count=3, min=513.6ms, max=831.0ms
+  task_specific_sample: mean=624.9ms, total=1.87s, count=3, min=508.2ms, max=828.1ms
+  scene_randomize: mean=2.3ms, total=6.8ms, count=3, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=446.6us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:24:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:40 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 16:24:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:40 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 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199549m	[env.py: 870]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10758552 -1.18323621 -0.19954913] yaw=-51.0deg	[env.py: 1019]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=291.3ms, total=291.4ms	[env.py: 1075]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -1.183, -0.200)	[env.py: 1079]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg	[env.py: 1082]
+05/13 16:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:40 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:41 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 16:24:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:41 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 16:24:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:41 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 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186232m	[env.py: 870]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21265307 -0.93390814 -0.186232  ] yaw=-33.6deg	[env.py: 1019]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=231.2ms, total=231.3ms	[env.py: 1075]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -0.934, -0.186)	[env.py: 1079]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg	[env.py: 1082]
+05/13 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:42 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:42 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 16:24:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.773s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:24:43 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:24:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:24:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.735s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:24:45 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:24:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:45 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 16:24:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:45 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 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159712m	[env.py: 870]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81681464 -0.92984886 -0.15971177] yaw=-100.9deg	[env.py: 1019]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46924418 -0.87411675 -0.15971177] yaw=-85.3deg	[env.py: 1019]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=383.8ms, total=383.9ms	[env.py: 1075]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.817, -0.930, -0.160)	[env.py: 1079]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.9 deg	[env.py: 1082]
+05/13 16:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:46 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:46 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 16:24:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:24:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:24:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:24:46 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 16:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:24:46 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 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169271m	[env.py: 870]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18568092 -1.12920566 -0.16927098] yaw=-14.7deg	[env.py: 1019]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.1ms, total=246.2ms	[env.py: 1075]
+05/13 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -1.129, -0.169)	[env.py: 1079]
+05/13 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.7 deg	[env.py: 1082]
+05/13 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:24:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:24:47 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.645[m] 99.660[deg]	[grasp_sample.py: 539]
+05/13 16:24:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:24:47 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:24:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:24:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:24:47 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 16:24:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:24:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:24:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:24:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:24:48 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 16:25:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:25:11 INFO: [Worker 0] Feasible grasp found 136 (originally 136): w/ 0.705[m] 87.621[deg]	[grasp_sample.py: 539]
+05/13 16:25:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:25:12 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:25:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:25:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:25:13 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 16:25:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:25:13 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 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106222m	[env.py: 870]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:25:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46818921 -0.88707944 -0.10622163] yaw=-43.7deg	[env.py: 1019]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63389691 -0.88087446 -0.10622163] yaw=-79.2deg	[env.py: 1019]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45114425 -0.85750073 -0.10622163] yaw=-53.4deg	[env.py: 1019]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:25:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=112.2ms, total=112.2ms	[env.py: 1075]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.887, -0.106)	[env.py: 1079]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/13 16:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:25:14 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:25:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:25:14 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 16:25:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:25:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:25:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:25:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:25:18 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 16:25:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:25:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:25:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:25:20 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.804[m] 86.247[deg]	[grasp_sample.py: 539]
+05/13 16:25:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:25:20 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.537[m] 77.255[deg]	[grasp_sample.py: 539]
+05/13 16:25:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:25:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:25:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:20 INFO: [Worker 0] Object is not in grasp! 0.00098 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:25:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:25:20 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 16:25:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:25:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 149 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:25:21 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 16:25:21 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:25:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:25:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:25:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:25:23 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 16:25:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:25:23 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 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120285m	[env.py: 870]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:25:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08605889 -1.09910653 -0.12028482] yaw=-61.3deg	[env.py: 1019]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.86017548 -0.76283286 -0.12028482] yaw=-73.4deg	[env.py: 1019]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:25:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=311.6ms, total=311.6ms	[env.py: 1075]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.099, -0.120)	[env.py: 1079]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/13 16:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:23 INFO: [Worker 0] Feasibility-checked 149 grasps in 2.836s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:25:23 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 1.391[deg]	[grasp_sample.py: 539]
+05/13 16:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:25:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:25:24 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:25:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:25:24 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 16:25:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:25:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:25:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:25:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.869s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:25:27 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:25:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:25:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:25:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:25:30 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 16:25:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:25:30 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 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169560m	[env.py: 870]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:25:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24513794 -1.28758728 -0.16956045] yaw=-3.9deg	[env.py: 1019]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64488565 -0.74066326 -0.16956045] yaw=-61.4deg	[env.py: 1019]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:25:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=257.0ms, total=257.1ms	[env.py: 1075]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.288, -0.170)	[env.py: 1079]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.9 deg	[env.py: 1082]
+05/13 16:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:25:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:25:31 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:25:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:25:31 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 16:25:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:25:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:25:34 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:25:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:25:36 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.622[m] 86.120[deg]	[grasp_sample.py: 539]
+05/13 16:25:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:25:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:25:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:25:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:25:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 16:25:57 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 16:26:09 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:26:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:26:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:26:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.50s (batch: 3.85s, save: 9.65s)	[pipeline.py: 300]
+05/13 16:26:11 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=2.52s:
+  episode_total: mean=45.68s, total=182.73s, count=4, min=3309.1ms, max=157499.0ms
+  sensor_polling: mean=397.9ms, total=104.64s, count=263, min=343.7ms, max=895.7ms
+  save_trajectories: mean=9.65s, total=9.65s, count=1, min=9646.0ms, max=9646.0ms
+  physics_step: mean=24.3ms, total=6.38s, count=263, min=16.4ms, max=49.1ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3854.4ms, max=3854.4ms
+  task_sampling: mean=630.4ms, total=2.52s, count=4, min=555.2ms, max=782.4ms
+  task_specific_sample: mean=625.3ms, total=2.50s, count=4, min=550.9ms, max=775.9ms
+  scene_randomize: mean=2.1ms, total=8.5ms, count=4, min=1.8ms, max=2.5ms
+  mj_forward_sync: mean=502.1us, total=2.0ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=23.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:26:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:13 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 16:26:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:13 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 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134717m	[env.py: 870]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42451039 -0.79258841 -0.13471738] yaw=-56.8deg	[env.py: 1019]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31498274 -1.11169247 -0.13471738] yaw=-29.4deg	[env.py: 1019]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26823312 -1.28510478 -0.13471738] yaw=-45.2deg	[env.py: 1019]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=336.9ms, total=336.9ms	[env.py: 1075]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.793, -0.135)	[env.py: 1079]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg	[env.py: 1082]
+05/13 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:13 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:13 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 16:26:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.635s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:26:16 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:26:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:18 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 16:26:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:18 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 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169945m	[env.py: 870]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.2ms, total=213.3ms	[env.py: 1105]
+05/13 16:26:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:26:18 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:26:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:19 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 16:26:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:19 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 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165893m	[env.py: 870]
+05/13 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=221.8ms, total=221.9ms	[env.py: 1105]
+05/13 16:26:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:26:20 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:26:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:21 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 16:26:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:21 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 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109932m	[env.py: 870]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57801742 -0.751166   -0.10993155] yaw=-59.7deg	[env.py: 1019]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56361398 -0.87903012 -0.10993155] yaw=-44.5deg	[env.py: 1019]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=273.5ms, total=273.5ms	[env.py: 1075]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.751, -0.110)	[env.py: 1079]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg	[env.py: 1082]
+05/13 16:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:22 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:26:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.841s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:26:25 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:26:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:28 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 16:26:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:28 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 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178783m	[env.py: 870]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.84020037 -0.6562758  -0.17878267] yaw=-71.5deg	[env.py: 1019]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32423364 -1.04761599 -0.17878267] yaw=-46.9deg	[env.py: 1019]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25694406 -1.19258846 -0.17878267] yaw=-61.8deg	[env.py: 1019]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.2ms, total=266.3ms	[env.py: 1075]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.656, -0.179)	[env.py: 1079]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg	[env.py: 1082]
+05/13 16:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:28 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:26:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.832s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:26:31 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:33 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 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174350m	[env.py: 870]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=315.4ms, total=315.5ms	[env.py: 1105]
+05/13 16:26:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:26:33 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:26:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:35 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 16:26:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:35 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 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190078m	[env.py: 870]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70463648 -0.86666451 -0.19007801] yaw=-61.7deg	[env.py: 1019]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=293.9ms, total=293.9ms	[env.py: 1075]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.705, -0.867, -0.190)	[env.py: 1079]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/13 16:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:35 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:36 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 16:26:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:26:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:26:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.039s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:26:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.645[m] 93.657[deg]	[grasp_sample.py: 539]
+05/13 16:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:40 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:26:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:42 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 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186586m	[env.py: 870]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32628568 -1.00453533 -0.18658639] yaw=-55.9deg	[env.py: 1019]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61573802 -0.81169838 -0.18658639] yaw=-52.7deg	[env.py: 1019]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=469.2ms, total=469.3ms	[env.py: 1075]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -1.005, -0.187)	[env.py: 1079]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg	[env.py: 1082]
+05/13 16:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:42 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:43 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 16:26:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:26:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:26:48 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.719[m] 93.464[deg]	[grasp_sample.py: 539]
+05/13 16:26:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:26:48 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 16:26:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:49 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:51 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 16:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124916m	[env.py: 870]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.75289351 -0.90801821 -0.12491633] yaw=-54.4deg	[env.py: 1019]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17209057 -1.22432816 -0.12491633] yaw=-29.2deg	[env.py: 1019]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84499808 -0.86345449 -0.12491633] yaw=-77.0deg	[env.py: 1019]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=313.1ms, total=313.2ms	[env.py: 1075]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.753, -0.908, -0.125)	[env.py: 1079]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 16:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:51 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:26:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:26:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:26:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.32s (batch: 4.34s, save: 10.98s)	[pipeline.py: 300]
+05/13 16:26:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:26:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.689[m] 86.095[deg]	[grasp_sample.py: 539]
+05/13 16:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:26:54 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.04s:
+  episode_total: mean=92.77s, total=185.54s, count=2, min=4931.0ms, max=180606.8ms
+  sensor_polling: mean=394.8ms, total=118.45s, count=300, min=370.8ms, max=823.7ms
+  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10979.2ms, max=10979.2ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=17.2ms, max=31.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.4ms, max=4342.4ms
+  task_sampling: mean=520.3ms, total=1.04s, count=2, min=511.7ms, max=529.0ms
+  task_specific_sample: mean=516.9ms, total=1.03s, count=2, min=508.8ms, max=525.1ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.2us, 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 16:26:54 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 16:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:26:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:26:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:26:55 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 16:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:26:55 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 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155534m	[env.py: 870]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5772814  -0.69714173 -0.15553401] yaw=-79.5deg	[env.py: 1019]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22248272 -1.36769902 -0.15553401] yaw=-55.1deg	[env.py: 1019]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:26:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=278.5ms, total=278.5ms	[env.py: 1075]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.697, -0.156)	[env.py: 1079]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.5 deg	[env.py: 1082]
+05/13 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/13 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:26:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:26:56 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:26:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:26:56 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 16:26:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:26:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 347 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:26:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.721s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:26:59 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:00 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 16:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:00 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 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100185m	[env.py: 870]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79549734 -0.66570571 -0.10018511] yaw=-80.9deg	[env.py: 1019]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23222093 -1.11646657 -0.10018511] yaw=-12.2deg	[env.py: 1019]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.1ms, total=221.1ms	[env.py: 1075]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.795, -0.666, -0.100)	[env.py: 1079]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.9 deg	[env.py: 1082]
+05/13 16:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:01 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:01 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 16:27:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 343 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.722s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:05 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 16:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:05 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 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188310m	[env.py: 870]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46487603 -0.89163238 -0.18831028] yaw=-38.8deg	[env.py: 1019]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.70793353 -0.85287262 -0.18831028] yaw=-60.8deg	[env.py: 1019]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=313.8ms, total=313.9ms	[env.py: 1075]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.892, -0.188)	[env.py: 1079]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg	[env.py: 1082]
+05/13 16:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:05 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:06 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 16:27:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.116s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:18 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.698[m] 82.273[deg]	[grasp_sample.py: 539]
+05/13 16:27:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:19 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:27:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:27:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:21 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 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160499m	[env.py: 870]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56776929 -0.80313619 -0.16049858] yaw=-66.4deg	[env.py: 1019]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03369808 -1.34634292 -0.16049858] yaw=-47.6deg	[env.py: 1019]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19407456 -1.03018473 -0.16049858] yaw=-48.6deg	[env.py: 1019]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.5ms, total=214.5ms	[env.py: 1075]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.803, -0.160)	[env.py: 1079]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg	[env.py: 1082]
+05/13 16:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:21 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:21 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 16:27:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:27:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:27:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:27:24 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 16:27:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 38.127s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:27 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.149[m] 20.878[deg]	[grasp_sample.py: 539]
+05/13 16:27:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:28 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.770[m] 98.325[deg]	[grasp_sample.py: 539]
+05/13 16:27:28 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:27:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:27:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:27:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:27:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:29 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 16:27:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114113m	[env.py: 870]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23580638 -1.01794954 -0.11411347] yaw=-41.2deg	[env.py: 1019]
+05/13 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3083428  -1.13283984 -0.11411347] yaw=-39.7deg	[env.py: 1019]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.84919231 -0.74997497 -0.11411347] yaw=-93.0deg	[env.py: 1019]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=616.6ms, total=616.7ms	[env.py: 1075]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.018, -0.114)	[env.py: 1079]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/13 16:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 16:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:30 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:27:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:30 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.524[m] 62.775[deg]	[grasp_sample.py: 539]
+05/13 16:27:32 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:27:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.741s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:27:33 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:27:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:33 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 16:27:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:33 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 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146310m	[env.py: 870]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20417752 -1.09224359 -0.14631007] yaw=-31.8deg	[env.py: 1019]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=256.5ms, total=256.5ms	[env.py: 1075]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.092, -0.146)	[env.py: 1079]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg	[env.py: 1082]
+05/13 16:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 16:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:34 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:34 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 16:27:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:35 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:27:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:35 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 16:27:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:35 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 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148888m	[env.py: 870]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=305.4ms, total=305.5ms	[env.py: 1105]
+05/13 16:27:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:27:35 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:36 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 16:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:36 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 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188857m	[env.py: 870]
+05/13 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.84149592 -0.83800274 -0.18885685] yaw=-92.0deg	[env.py: 1019]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=677.1ms, total=677.2ms	[env.py: 1075]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.841, -0.838, -0.189)	[env.py: 1079]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.0 deg	[env.py: 1082]
+05/13 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.254s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.710[m] 83.738[deg]	[grasp_sample.py: 539]
+05/13 16:27:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:37 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:37 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 16:27:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 350 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:39 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:27:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:39 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.649[m] 102.695[deg]	[grasp_sample.py: 539]
+05/13 16:27:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:27:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:27:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:27:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:40 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 16:27:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:40 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 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135912m	[env.py: 870]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65021526 -0.83142982 -0.13591182] yaw=-70.9deg	[env.py: 1019]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=442.6ms, total=442.7ms	[env.py: 1075]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.831, -0.136)	[env.py: 1079]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg	[env.py: 1082]
+05/13 16:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 16:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:41 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:41 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 16:27:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:27:44 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.679[m] 89.371[deg]	[grasp_sample.py: 539]
+05/13 16:27:45 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:27:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:47 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 16:27:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:47 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 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111608m	[env.py: 870]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15893897 -1.14361544 -0.11160802] yaw=-25.6deg	[env.py: 1019]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41509385 -0.81690113 -0.11160802] yaw=-81.1deg	[env.py: 1019]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms	[env.py: 1075]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.144, -0.112)	[env.py: 1079]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.6 deg	[env.py: 1082]
+05/13 16:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:47 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:47 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 16:27:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.547s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:27:50 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:27:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:52 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 16:27:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:52 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 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191648m	[env.py: 870]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59345648 -0.72728846 -0.19164838] yaw=-45.5deg	[env.py: 1019]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40012376 -1.06449013 -0.19164838] yaw=-66.4deg	[env.py: 1019]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.1ms, total=212.2ms	[env.py: 1075]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.727, -0.192)	[env.py: 1079]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg	[env.py: 1082]
+05/13 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:52 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:52 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 16:27:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:27:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.614s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:27:55 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:27:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:27:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:27:56 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 16:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:27:56 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 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183552m	[env.py: 870]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31960261 -1.21398117 -0.18355162] yaw=-17.6deg	[env.py: 1019]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.827687   -0.84743006 -0.18355162] yaw=-105.8deg	[env.py: 1019]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:27:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=388.6ms, total=388.6ms	[env.py: 1075]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.214, -0.184)	[env.py: 1079]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg	[env.py: 1082]
+05/13 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/13 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:27:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:27:57 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:27:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:27:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:27:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:27:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:01 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:28:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:28:01 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 16:28:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:04 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.626[m] 80.211[deg]	[grasp_sample.py: 539]
+05/13 16:28:05 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:28:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:07 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 16:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:07 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 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143214m	[env.py: 870]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.76200531 -0.76712569 -0.14321393] yaw=-90.8deg	[env.py: 1019]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50578632 -0.91747163 -0.14321393] yaw=-61.9deg	[env.py: 1019]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=570.4ms, total=570.4ms	[env.py: 1075]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.762, -0.767, -0.143)	[env.py: 1079]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.8 deg	[env.py: 1082]
+05/13 16:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 16:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:08 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:08 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 16:28:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 351 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:16 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.773[m] 96.759[deg]	[grasp_sample.py: 539]
+05/13 16:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:28:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:28:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:28:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.66s (batch: 5.63s, save: 10.03s)	[pipeline.py: 300]
+05/13 16:28:18 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=4.71s:
+  episode_total: mean=27.85s, total=222.78s, count=8, min=263.2ms, max=168031.2ms
+  sensor_polling: mean=423.3ms, total=126.98s, count=300, min=375.1ms, max=732.6ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10031.7ms, max=10031.7ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=16.6ms, max=58.9ms
+  save_batch_prep: mean=5.63s, total=5.63s, count=1, min=5626.1ms, max=5626.1ms
+  task_specific_sample: mean=616.6ms, total=4.93s, count=8, min=253.7ms, max=751.4ms
+  task_sampling: mean=673.0ms, total=4.71s, count=7, min=558.2ms, max=756.4ms
+  task_sampling_failed: mean=263.2ms, total=263.2ms, count=1, min=263.2ms, max=263.2ms
+  scene_randomize: mean=2.3ms, total=18.4ms, count=8, min=1.3ms, max=4.8ms
+  mj_forward_sync: mean=613.2us, total=4.9ms, count=8, min=0.4ms, max=1.3ms
+  policy_setup: mean=19.4us, 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 16:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:19 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 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112011m	[env.py: 870]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20674385 -1.17552656 -0.11201058] yaw=-42.1deg	[env.py: 1019]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.0ms, total=289.1ms	[env.py: 1075]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.176, -0.112)	[env.py: 1079]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg	[env.py: 1082]
+05/13 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:19 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:28:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:20 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 16:28:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:20 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 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148063m	[env.py: 870]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50832437 -0.95104558 -0.14806287] yaw=-60.8deg	[env.py: 1019]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.9ms, total=231.0ms	[env.py: 1075]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.951, -0.148)	[env.py: 1079]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:20 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:21 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 16:28:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.962s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:23 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.740[m] 73.361[deg]	[grasp_sample.py: 539]
+05/13 16:28:24 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:28:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:26 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 16:28:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:26 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 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198773m	[env.py: 870]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02599269 -1.24017337 -0.19877267] yaw=-29.3deg	[env.py: 1019]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42739524 -0.78736779 -0.19877267] yaw=-41.0deg	[env.py: 1019]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=326.5ms, total=326.5ms	[env.py: 1075]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -1.240, -0.199)	[env.py: 1079]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg	[env.py: 1082]
+05/13 16:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:27 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:27 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 16:28:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.223s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:29 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.642[m] 90.413[deg]	[grasp_sample.py: 539]
+05/13 16:28:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:28:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:28:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:28:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.734s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:28:30 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:28:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:28:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:33 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 16:28:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:33 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 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114612m	[env.py: 870]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=237.3ms, total=237.4ms	[env.py: 1105]
+05/13 16:28:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:28:33 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 16:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:36 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 16:28:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:36 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 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134333m	[env.py: 870]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15370207 -1.30209296 -0.13433274] yaw=-35.8deg	[env.py: 1019]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=254.9ms, total=254.9ms	[env.py: 1075]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.302, -0.134)	[env.py: 1079]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg	[env.py: 1082]
+05/13 16:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:37 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:37 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 16:28:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:28:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:28:47 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 16:28:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:48 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.115[m] 12.731[deg]	[grasp_sample.py: 539]
+05/13 16:28:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:28:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:28:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:28:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.293s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:51 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.686[m] 88.473[deg]	[grasp_sample.py: 539]
+05/13 16:28:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:28:52 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:28:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:28:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:28:55 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 16:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:28:55 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 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146068m	[env.py: 870]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.89200216 -0.90958534 -0.14606773] yaw=-62.5deg	[env.py: 1019]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41150409 -0.96034003 -0.14606773] yaw=-36.1deg	[env.py: 1019]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81447571 -0.75416728 -0.14606773] yaw=-56.0deg	[env.py: 1019]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.9ms, total=193.9ms	[env.py: 1075]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.892, -0.910, -0.146)	[env.py: 1079]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg	[env.py: 1082]
+05/13 16:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:28:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:28:55 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:28:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:28:55 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 16:28:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:28:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:28:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:28:58 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.656[m] 91.533[deg]	[grasp_sample.py: 539]
+05/13 16:28:59 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:29:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:29:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:29:01 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 16:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:29:01 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 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161770m	[env.py: 870]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02982013 -1.1859369  -0.16176987] yaw=-6.2deg	[env.py: 1019]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24664565 -1.23132029 -0.16176987] yaw=-59.5deg	[env.py: 1019]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:29:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=287.4ms, total=287.4ms	[env.py: 1075]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -1.186, -0.162)	[env.py: 1079]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.2 deg	[env.py: 1082]
+05/13 16:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:01 INFO: [Worker 0] Object is not in grasp! 0.00097 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:29:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:29:01 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 16:29:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 167 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:29:02 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:29:02 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 16:29:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:02 INFO: [Worker 0] Feasibility-checked 167 grasps in 0.568s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:02 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.068[m] 0.510[deg]	[grasp_sample.py: 539]
+05/13 16:29:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.658s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:29:05 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:29:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:29:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:29:06 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 16:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:29:06 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 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181176m	[env.py: 870]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42880641 -0.93076402 -0.18117583] yaw=-36.1deg	[env.py: 1019]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04859245 -1.30282191 -0.18117583] yaw=-12.8deg	[env.py: 1019]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65495309 -0.68204156 -0.18117583] yaw=-91.3deg	[env.py: 1019]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:29:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.6ms	[env.py: 1075]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.931, -0.181)	[env.py: 1079]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg	[env.py: 1082]
+05/13 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/13 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:29:07 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:29:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:29:07 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 16:29:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.714[m] 76.473[deg]	[grasp_sample.py: 539]
+05/13 16:29:11 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:29:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:29:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:29:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:29:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:29:13 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 16:29:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:29:13 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 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168546m	[env.py: 870]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:29:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31869066 -1.15473256 -0.16854646] yaw=-15.7deg	[env.py: 1019]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:29:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=292.7ms, total=292.8ms	[env.py: 1075]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.155, -0.169)	[env.py: 1079]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.7 deg	[env.py: 1082]
+05/13 16:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:29:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:29:14 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:29:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:29:14 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 16:29:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:29:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:19 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.664[m] 80.585[deg]	[grasp_sample.py: 539]
+05/13 16:29:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:21 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:29:22 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:29:22 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:29:22 INFO: [Worker 0] Worker 0 completed house 1: 9/16 successful episodes	[pipeline.py: 1323]
+05/13 16:29:22 INFO: [Worker 0] [PROFILE] House 1 complete: 9/16 successful, 16 episodes, total_time=4498.64s
+  House averages:
+  episode_total: mean=37.21s, total=2679.15s, count=72, min=225.1ms, max=174235.2ms
+  sensor_polling: mean=402.7ms, total=1493.49s, count=3709, min=341.1ms, max=895.7ms
+  save_trajectories: mean=10.30s, total=92.74s, count=9, min=9646.0ms, max=11404.8ms
+  physics_step: mean=24.2ms, total=89.91s, count=3709, min=14.2ms, max=88.7ms
+  task_specific_sample: mean=598.8ms, total=43.12s, count=72, min=219.2ms, max=1201.6ms
+  task_sampling: mean=636.5ms, total=39.46s, count=62, min=447.9ms, max=1206.4ms
+  save_batch_prep: mean=4.29s, total=38.60s, count=9, min=3645.1ms, max=6206.3ms
+  task_sampling_failed: mean=929.4ms, total=9.29s, count=10, min=225.1ms, max=6078.4ms
+  scene_load: mean=5.33s, total=5.33s, count=1, min=5333.2ms, max=5333.2ms
+  scene_env_create: mean=3.21s, total=3.21s, count=1, min=3214.1ms, max=3214.1ms
+  scene_compile: mean=1.91s, total=1.91s, count=1, min=1913.0ms, max=1913.0ms
+  compile_mujoco: mean=966.4ms, total=966.4ms, count=1, min=966.4ms, max=966.4ms
+  compile_xml_load: mean=817.6ms, total=817.6ms, count=1, min=817.6ms, max=817.6ms
+  scene_init: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms
+  scene_randomize: mean=1.9ms, total=138.8ms, count=72, min=1.1ms, max=5.2ms
+  scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  mj_forward_sync: mean=473.9us, total=34.1ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms
+  policy_setup: mean=24.1us, total=1.5ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 16:29:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 16:29:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=4498.64s
+  Worker averages:
+  episode_total: mean=37.21s, total=2679.15s, count=72, min=225.1ms, max=174235.2ms
+  sensor_polling: mean=402.7ms, total=1493.49s, count=3709, min=341.1ms, max=895.7ms
+  save_trajectories: mean=10.30s, total=92.74s, count=9, min=9646.0ms, max=11404.8ms
+  physics_step: mean=24.2ms, total=89.91s, count=3709, min=14.2ms, max=88.7ms
+  task_specific_sample: mean=598.8ms, total=43.12s, count=72, min=219.2ms, max=1201.6ms
+  task_sampling: mean=636.5ms, total=39.46s, count=62, min=447.9ms, max=1206.4ms
+  save_batch_prep: mean=4.29s, total=38.60s, count=9, min=3645.1ms, max=6206.3ms
+  task_sampling_failed: mean=929.4ms, total=9.29s, count=10, min=225.1ms, max=6078.4ms
+  scene_load: mean=5.33s, total=5.33s, count=1, min=5333.2ms, max=5333.2ms
+  scene_env_create: mean=3.21s, total=3.21s, count=1, min=3214.1ms, max=3214.1ms
+  scene_compile: mean=1.91s, total=1.91s, count=1, min=1913.0ms, max=1913.0ms
+  compile_mujoco: mean=966.4ms, total=966.4ms, count=1, min=966.4ms, max=966.4ms
+  compile_xml_load: mean=817.6ms, total=817.6ms, count=1, min=817.6ms, max=817.6ms
+  scene_init: mean=140.4ms, total=140.4ms, count=1, min=140.4ms, max=140.4ms
+  scene_randomize: mean=1.9ms, total=138.8ms, count=72, min=1.1ms, max=5.2ms
+  scene_asset_install: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  mj_forward_sync: mean=473.9us, total=34.1ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms
+  policy_setup: mean=24.1us, total=1.5ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 16:29:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 16:29:25 INFO: Success count: 9, Total count: 16	[pipeline.py: 1491]
+05/13 16:29:25 INFO: Success rate: 56.25%	[pipeline.py: 1492]
+05/13 16:29:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:29:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:29:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:29:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 180 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:29 INFO: [Worker 0] Feasibility-checked 180 grasps in 0.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:29 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.061[m] 0.555[deg]	[grasp_sample.py: 539]
+05/13 16:29:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:29:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:29:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:46 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:29:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:29:46 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 16:29:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 175 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:47 INFO: [Worker 0] Feasibility-checked 175 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:47 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.075[m] 4.094[deg]	[grasp_sample.py: 539]
+05/13 16:29:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:29:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:29:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:29:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:29:52 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 16:29:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:29:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 366 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:29:54 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:29:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:29:55 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.112[m] 17.259[deg]	[grasp_sample.py: 539]
+05/13 16:29:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:29:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:29:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:30:01 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:30:01 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=3.36s:
+  episode_total: mean=52.01s, total=312.04s, count=6, min=319.5ms, max=144153.6ms
+  sensor_polling: mean=426.9ms, total=191.66s, count=449, min=370.6ms, max=945.8ms
+  physics_step: mean=25.9ms, total=11.62s, count=449, min=17.1ms, max=112.0ms
+  task_specific_sample: mean=608.1ms, total=3.65s, count=6, min=311.2ms, max=973.4ms
+  task_sampling: mean=671.1ms, total=3.36s, count=5, min=393.9ms, max=976.0ms
+  task_sampling_failed: mean=319.4ms, total=319.4ms, count=1, min=319.4ms, max=319.4ms
+  scene_randomize: mean=1.7ms, total=10.4ms, count=6, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=464.8us, total=2.8ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.1us, 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 16:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:02 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 16:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125636m	[env.py: 870]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10928336 -1.03697664 -0.12563629] yaw=-26.4deg	[env.py: 1019]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81259704 -0.74132149 -0.12563629] yaw=-88.2deg	[env.py: 1019]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=327.7ms, total=327.8ms	[env.py: 1075]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -1.037, -0.126)	[env.py: 1079]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg	[env.py: 1082]
+05/13 16:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:03 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:03 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 16:30:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.560s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:30:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:07 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 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122432m	[env.py: 870]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38463812 -1.05703892 -0.1224318 ] yaw=-71.1deg	[env.py: 1019]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25008729 -0.96037602 -0.1224318 ] yaw=-41.6deg	[env.py: 1019]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.1ms, total=366.1ms	[env.py: 1075]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -1.057, -0.122)	[env.py: 1079]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg	[env.py: 1082]
+05/13 16:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:08 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:08 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 16:30:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:10 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.716[m] 101.072[deg]	[grasp_sample.py: 539]
+05/13 16:30:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:30:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:30:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:30:21 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:30:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:30:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:30:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:30:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 358 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.845s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:24 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.118[m] 14.389[deg]	[grasp_sample.py: 539]
+05/13 16:30:25 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:27 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 16:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:27 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 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108435m	[env.py: 870]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53872692 -0.97600657 -0.1084349 ] yaw=-87.7deg	[env.py: 1019]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58898971 -0.84683476 -0.1084349 ] yaw=-95.7deg	[env.py: 1019]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86533296 -0.68287003 -0.1084349 ] yaw=-86.2deg	[env.py: 1019]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms	[env.py: 1075]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -0.976, -0.108)	[env.py: 1079]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.7 deg	[env.py: 1082]
+05/13 16:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:28 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:28 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 16:30:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 341 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:31 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.721[m] 103.903[deg]	[grasp_sample.py: 539]
+05/13 16:30:32 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:30:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:33 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 16:30:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:33 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 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146309m	[env.py: 870]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17352752 -1.40544151 -0.146309  ] yaw=-28.5deg	[env.py: 1019]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.06927249 -1.10085934 -0.146309  ] yaw=-27.8deg	[env.py: 1019]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.4ms	[env.py: 1075]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.405, -0.146)	[env.py: 1079]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.5 deg	[env.py: 1082]
+05/13 16:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 16:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:34 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:34 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 16:30:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 365 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:30:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:30:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.21s (batch: 4.33s, save: 10.88s)	[pipeline.py: 300]
+05/13 16:30:36 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=2.14s:
+  episode_total: mean=54.25s, total=216.99s, count=4, min=3373.6ms, max=195971.7ms
+  sensor_polling: mean=389.9ms, total=116.98s, count=300, min=336.3ms, max=917.2ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10876.1ms, max=10876.1ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=17.2ms, max=53.3ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4330.8ms, max=4330.8ms
+  task_sampling: mean=534.1ms, total=2.14s, count=4, min=465.4ms, max=590.9ms
+  task_specific_sample: mean=530.6ms, total=2.12s, count=4, min=462.3ms, max=588.0ms
+  scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=437.3us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, 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 16:30:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:38 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 16:30:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:38 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 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101584m	[env.py: 870]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40265025 -0.90865951 -0.10158377] yaw=-30.9deg	[env.py: 1019]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17570888 -1.19722131 -0.10158377] yaw=-8.5deg	[env.py: 1019]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62096999 -0.68878932 -0.10158377] yaw=-44.6deg	[env.py: 1019]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms	[env.py: 1075]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.909, -0.102)	[env.py: 1079]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.9 deg	[env.py: 1082]
+05/13 16:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:39 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:39 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 16:30:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:43 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.602[m] 85.283[deg]	[grasp_sample.py: 539]
+05/13 16:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:30:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:46 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 16:30:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:46 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 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160208m	[env.py: 870]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53707714 -0.71420436 -0.16020766] yaw=-87.8deg	[env.py: 1019]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39099065 -1.06619769 -0.16020766] yaw=-42.2deg	[env.py: 1019]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64439646 -0.84353794 -0.16020766] yaw=-84.9deg	[env.py: 1019]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.4ms, total=171.5ms	[env.py: 1075]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.714, -0.160)	[env.py: 1079]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.8 deg	[env.py: 1082]
+05/13 16:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:46 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:46 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 16:30:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.136s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:48 INFO: [Worker 0] Feasible grasp found 151 (originally 151): w/ 0.792[m] 86.809[deg]	[grasp_sample.py: 539]
+05/13 16:30:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.664s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:30:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:50 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 16:30:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:50 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 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185325m	[env.py: 870]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59447484 -0.77682631 -0.18532506] yaw=-81.1deg	[env.py: 1019]
+05/13 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=214.5ms, total=214.6ms	[env.py: 1075]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.777, -0.185)	[env.py: 1079]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:30:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:30:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:30:51 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 16:30:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:30:51 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 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144600m	[env.py: 870]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:30:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25372937 -1.30393312 -0.14459965] yaw=-23.9deg	[env.py: 1019]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13089214 -1.00637697 -0.14459965] yaw=-25.5deg	[env.py: 1019]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:30:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:51 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=247.4ms, total=247.5ms	[env.py: 1075]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -1.304, -0.145)	[env.py: 1079]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.9 deg	[env.py: 1082]
+05/13 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:30:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:51 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 16:30:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:30:51 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:30:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:30:51 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 16:30:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:30:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 367 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:55 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.600[m] 85.379[deg]	[grasp_sample.py: 539]
+05/13 16:30:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:30:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:30:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:30:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:30:58 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.732[m] 102.448[deg]	[grasp_sample.py: 539]
+05/13 16:30:59 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:31:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:31:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:31:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:31:00 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 16:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177181m	[env.py: 870]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58381485 -0.97075108 -0.17718063] yaw=-58.4deg	[env.py: 1019]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05209509 -1.19708179 -0.17718063] yaw=-24.9deg	[env.py: 1019]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60347771 -0.90491087 -0.17718063] yaw=-42.2deg	[env.py: 1019]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.4ms, total=214.4ms	[env.py: 1075]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.971, -0.177)	[env.py: 1079]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/13 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:31:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:31:01 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:31:01 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 16:31:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:31:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:31:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:31:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.599[m] 88.316[deg]	[grasp_sample.py: 539]
+05/13 16:31:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:31:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:31:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:31:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:31:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:31:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:31:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:31:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:31:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:31:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:31:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:32:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:32:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:32:13 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:32:38 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:32:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:32:38 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 16:32:43 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:32:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:32:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:32:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.32s (batch: 4.17s, save: 10.15s)	[pipeline.py: 300]
+05/13 16:32:53 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.30s:
+  episode_total: mean=84.73s, total=169.47s, count=2, min=3368.8ms, max=166101.2ms
+  sensor_polling: mean=397.9ms, total=110.61s, count=278, min=369.7ms, max=786.5ms
+  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10151.7ms, max=10151.7ms
+  physics_step: mean=23.7ms, total=6.59s, count=278, min=16.3ms, max=53.5ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.7ms, max=4169.7ms
+  task_sampling: mean=651.8ms, total=1.30s, count=2, min=606.5ms, max=697.1ms
+  task_specific_sample: mean=644.9ms, total=1.29s, count=2, min=603.8ms, max=686.0ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=516.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.9us, 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 16:32:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:32:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:32:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:32:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:32:54 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 16:32:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:32:54 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 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182870m	[env.py: 870]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:32:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.72014554 -0.77597881 -0.18286964] yaw=-76.1deg	[env.py: 1019]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32243228 -1.22283658 -0.18286964] yaw=-58.2deg	[env.py: 1019]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:32:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.5ms, total=241.6ms	[env.py: 1075]
+05/13 16:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.720, -0.776, -0.183)	[env.py: 1079]
+05/13 16:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg	[env.py: 1082]
+05/13 16:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 16:32:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:32:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:32:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:32:55 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:32:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:32:55 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 16:32:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:32:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 353 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:32:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:32:58 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.740[m] 97.389[deg]	[grasp_sample.py: 539]
+05/13 16:32:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:32:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:32:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:33:00 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:33:07 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:33:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:33:07 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 16:33:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:33:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:33:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.06s (batch: 3.82s, save: 9.25s)	[pipeline.py: 300]
+05/13 16:33:21 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.05s:
+  episode_total: mean=80.67s, total=161.34s, count=2, min=11148.9ms, max=150191.0ms
+  sensor_polling: mean=394.7ms, total=100.65s, count=255, min=370.5ms, max=858.5ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9248.5ms, max=9248.5ms
+  physics_step: mean=23.1ms, total=5.89s, count=255, min=16.5ms, max=35.6ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3815.8ms, max=3815.8ms
+  task_sampling: mean=524.9ms, total=1.05s, count=2, min=508.9ms, max=541.0ms
+  task_specific_sample: mean=520.6ms, total=1.04s, count=2, min=504.6ms, max=536.6ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms
+  mj_forward_sync: mean=444.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:33:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:33:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:33:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:33:22 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 16:33:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:33:22 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 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159820m	[env.py: 870]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:33:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28445485 -1.18543329 -0.15981998] yaw=-21.7deg	[env.py: 1019]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62337561 -0.9130962  -0.15981998] yaw=-43.1deg	[env.py: 1019]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:33:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=590.5ms, total=590.6ms	[env.py: 1075]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.185, -0.160)	[env.py: 1079]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.7 deg	[env.py: 1082]
+05/13 16:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:33:23 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:33:23 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:33:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:33:23 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 16:33:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:33:23 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 16:33:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:33:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:33:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.901s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:33:26 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.641[m] 82.386[deg]	[grasp_sample.py: 539]
+05/13 16:33:27 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:33:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:33:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:33:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:33:29 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 16:33:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:33:29 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 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141050m	[env.py: 870]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:33:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75601207 -0.82534976 -0.14104995] yaw=-59.7deg	[env.py: 1019]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31015719 -0.85094483 -0.14104995] yaw=-28.7deg	[env.py: 1019]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=473.4ms, total=473.4ms	[env.py: 1075]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.756, -0.825, -0.141)	[env.py: 1079]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg	[env.py: 1082]
+05/13 16:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:33:29 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:33:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:33:30 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 16:33:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:33:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:33:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.147s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:33:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.725[m] 92.039[deg]	[grasp_sample.py: 539]
+05/13 16:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:33:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:33:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:33:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:33:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:33:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:33:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.18s (batch: 4.52s, save: 9.66s)	[pipeline.py: 300]
+05/13 16:33:38 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=2.91s:
+  episode_total: mean=51.82s, total=310.94s, count=6, min=3312.1ms, max=157747.5ms
+  sensor_polling: mean=419.0ms, total=185.20s, count=442, min=376.7ms, max=831.6ms
+  physics_step: mean=23.9ms, total=10.58s, count=442, min=16.3ms, max=100.4ms
+  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9661.1ms, max=9661.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.9ms, max=4520.9ms
+  task_sampling: mean=484.2ms, total=2.91s, count=6, min=425.5ms, max=560.8ms
+  task_specific_sample: mean=480.6ms, total=2.88s, count=6, min=421.6ms, max=556.3ms
+  scene_randomize: mean=1.7ms, total=9.9ms, count=6, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=445.7us, total=2.7ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:33:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:33:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:33:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:33:40 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 16:33:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:33:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126230m	[env.py: 870]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:33:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26633282 -1.105713   -0.12622992] yaw=-68.9deg	[env.py: 1019]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71498477 -0.68402386 -0.12622992] yaw=-87.5deg	[env.py: 1019]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24382426 -1.30640779 -0.12622992] yaw=-17.7deg	[env.py: 1019]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:33:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.1ms, total=161.2ms	[env.py: 1075]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.106, -0.126)	[env.py: 1079]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg	[env.py: 1082]
+05/13 16:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:33:40 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:33:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:33:40 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 16:33:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:33:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:33:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:33:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.725[m] 85.910[deg]	[grasp_sample.py: 539]
+05/13 16:33:46 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:33:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:33:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:33:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:33:47 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 16:33:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:33:47 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 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139060m	[env.py: 870]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:33:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32808894 -1.00925237 -0.13906027] yaw=-34.8deg	[env.py: 1019]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30697483 -0.89591489 -0.13906027] yaw=-41.1deg	[env.py: 1019]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:33:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.5ms	[env.py: 1075]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.009, -0.139)	[env.py: 1079]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 16:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:33:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:33:48 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:33:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:33:48 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 16:33:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:33:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:33:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:33:51 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.720[m] 85.333[deg]	[grasp_sample.py: 539]
+05/13 16:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:33:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:33:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:33:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:34:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:34:09 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 16:34:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:34:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:34:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.329s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:34:25 INFO: [Worker 0] Feasible grasp found 231 (originally 231): w/ 0.093[m] 11.541[deg]	[grasp_sample.py: 539]
+05/13 16:34:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:34:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:34:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:34:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:34:43 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 16:34:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:34:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:34:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:34:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:34:54 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 16:34:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:34:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 359 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:35:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:06 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.083[m] 12.379[deg]	[grasp_sample.py: 539]
+05/13 16:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:35:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:35:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:09 INFO: [Worker 0] Object is not in grasp! 0.00113 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:35:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:35:09 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 16:35:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:35:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 144 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.074[m] 8.866[deg]	[grasp_sample.py: 539]
+05/13 16:35:12 INFO: [Worker 0] Feasibility-checked 144 grasps in 2.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:12 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.091[deg]	[grasp_sample.py: 539]
+05/13 16:35:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:35:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:35:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:12 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:35:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:35:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:35:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:35:14 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 16:35:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:35:14 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 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167816m	[env.py: 870]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:35:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.76766565 -0.84565106 -0.16781586] yaw=-81.6deg	[env.py: 1019]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09891103 -1.16563155 -0.16781586] yaw=-18.5deg	[env.py: 1019]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18828531 -1.01163081 -0.16781586] yaw=-29.0deg	[env.py: 1019]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:35:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=208.8ms, total=208.8ms	[env.py: 1075]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.768, -0.846, -0.168)	[env.py: 1079]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.6 deg	[env.py: 1082]
+05/13 16:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:35:14 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:35:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:35:14 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 16:35:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:35:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 345 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.311s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:17 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.658[m] 97.571[deg]	[grasp_sample.py: 539]
+05/13 16:35:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:35:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:35:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:35:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:35:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:35:28 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 16:35:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:35:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 258 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:35 INFO: [Worker 0] Feasible grasp found 237 (originally 237): w/ 0.056[m] 2.578[deg]	[grasp_sample.py: 539]
+05/13 16:35:36 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:35:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:35:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:35:37 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 16:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:35:37 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 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112377m	[env.py: 870]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21765821 -1.07187335 -0.11237701] yaw=-51.5deg	[env.py: 1019]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43397337 -0.90564225 -0.11237701] yaw=-69.7deg	[env.py: 1019]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.072, -0.112)	[env.py: 1079]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg	[env.py: 1082]
+05/13 16:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 16:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:35:38 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:35:38 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 16:35:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:35:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.016s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:41 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.722[m] 83.634[deg]	[grasp_sample.py: 539]
+05/13 16:35:43 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:35:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:35:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:35:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:35:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:35:44 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 16:35:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:35:44 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 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162305m	[env.py: 870]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:35:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15771397 -1.24535684 -0.16230492] yaw=-54.2deg	[env.py: 1019]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -180.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16517464 -1.21473858 -0.16230492] yaw=-45.2deg	[env.py: 1019]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09331764 -1.14107823 -0.16230492] yaw=-17.5deg	[env.py: 1019]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=465.5ms, total=465.5ms	[env.py: 1075]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.245, -0.162)	[env.py: 1079]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg	[env.py: 1082]
+05/13 16:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/13 16:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:35:45 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:35:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:35:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:35:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:35:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:35:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.317s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:35:55 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.710[m] 88.023[deg]	[grasp_sample.py: 539]
+05/13 16:35:57 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:35:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:35:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:35:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:35:58 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 16:35:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:35:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183307m	[env.py: 870]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:35:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=218.5ms, total=218.5ms	[env.py: 1105]
+05/13 16:35:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:35:58 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 16:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:35:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:35:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:35:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:35:59 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 16:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:35:59 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 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103530m	[env.py: 870]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80976092 -0.91453913 -0.10352982] yaw=-95.8deg	[env.py: 1019]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:36:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.7ms, total=217.8ms	[env.py: 1075]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.810, -0.915, -0.104)	[env.py: 1079]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.8 deg	[env.py: 1082]
+05/13 16:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 16:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:36:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:36:00 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:36:00 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 16:36:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 354 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:01 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.681[m] 100.029[deg]	[grasp_sample.py: 539]
+05/13 16:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:36:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:36:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:03 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:36:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:36:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:36:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:36:28 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 16:36:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:29 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:36:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:36:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:36:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:30 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.572[m] 78.169[deg]	[grasp_sample.py: 539]
+05/13 16:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:32 INFO: [Worker 0] Object is not in grasp! 0.00134 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:36:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:36:32 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 16:36:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 187 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:33 INFO: [Worker 0] Feasibility-checked 187 grasps in 0.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:33 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.063[m] 0.382[deg]	[grasp_sample.py: 539]
+05/13 16:36:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:36:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:36:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:36:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:36:43 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 16:36:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:36:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:36:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.36s (batch: 4.42s, save: 10.93s)	[pipeline.py: 300]
+05/13 16:36:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:45 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.569[m] 77.490[deg]	[grasp_sample.py: 539]
+05/13 16:36:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:36:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:36:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:45 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.99s:
+  episode_total: mean=92.15s, total=184.30s, count=2, min=6096.8ms, max=178205.4ms
+  sensor_polling: mean=399.4ms, total=119.83s, count=300, min=376.5ms, max=750.8ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10932.5ms, max=10932.5ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.4ms, max=52.4ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4422.9ms, max=4422.9ms
+  task_sampling: mean=493.6ms, total=987.2ms, count=2, min=492.4ms, max=494.8ms
+  task_specific_sample: mean=490.0ms, total=980.0ms, count=2, min=488.3ms, max=491.7ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=445.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.5us, 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 16:36:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:36:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:36:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:36:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:36:47 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 16:36:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:36:47 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 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140648m	[env.py: 870]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:36:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32723379 -0.9430477  -0.14064767] yaw=-47.4deg	[env.py: 1019]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1892948  -1.12267261 -0.14064767] yaw=-56.5deg	[env.py: 1019]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13871104 -1.317131   -0.14064767] yaw=-12.3deg	[env.py: 1019]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:36:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.8ms, total=214.9ms	[env.py: 1075]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -0.943, -0.141)	[env.py: 1079]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg	[env.py: 1082]
+05/13 16:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:36:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:36:47 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:36:47 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 16:36:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:54 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.756[m] 90.833[deg]	[grasp_sample.py: 539]
+05/13 16:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:36:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:36:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:36:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:36:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:36:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:36:57 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 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191594m	[env.py: 870]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:36:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32796905 -1.01707737 -0.19159441] yaw=-63.1deg	[env.py: 1019]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.91376227 -0.73807939 -0.19159441] yaw=-113.9deg	[env.py: 1019]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.76387979 -0.6783387  -0.19159441] yaw=-96.3deg	[env.py: 1019]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms	[env.py: 1075]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.017, -0.192)	[env.py: 1079]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg	[env.py: 1082]
+05/13 16:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:36:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:36:57 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:36:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:58 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:36:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:36:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 177 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:36:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:36:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:36:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:36:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:36:58 INFO: [Worker 0] Feasibility-checked 177 grasps in 0.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:58 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.068[m] 0.603[deg]	[grasp_sample.py: 539]
+05/13 16:36:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:36:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:36:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:36:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.330s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:36:59 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.569[m] 77.490[deg]	[grasp_sample.py: 539]
+05/13 16:36:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:37:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:37:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:37:04 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.726[m] 93.236[deg]	[grasp_sample.py: 539]
+05/13 16:37:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:37:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:37:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:37:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:37:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:37:13 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:37:13 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=2.23s:
+  episode_total: mean=50.59s, total=252.97s, count=5, min=228.8ms, max=161662.2ms
+  sensor_polling: mean=410.0ms, total=105.77s, count=258, min=373.3ms, max=825.7ms
+  physics_step: mean=22.1ms, total=5.69s, count=258, min=14.3ms, max=36.0ms
+  task_specific_sample: mean=486.8ms, total=2.43s, count=5, min=224.3ms, max=717.6ms
+  task_sampling: mean=556.6ms, total=2.23s, count=4, min=466.7ms, max=724.0ms
+  task_sampling_failed: mean=228.8ms, total=228.8ms, count=1, min=228.8ms, max=228.8ms
+  scene_randomize: mean=1.6ms, total=8.0ms, count=5, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=435.7us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, 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 16:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:37:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:37:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:37:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:37:14 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 16:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:37:14 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 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172659m	[env.py: 870]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21937031 -1.11555582 -0.17265863] yaw=-29.1deg	[env.py: 1019]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:37:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.7ms	[env.py: 1075]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.116, -0.173)	[env.py: 1079]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.1 deg	[env.py: 1082]
+05/13 16:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:37:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:37:15 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:37:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:37:15 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 16:37:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:37:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:37:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:37:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:37:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:37:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 189 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:37:17 INFO: [Worker 0] Feasibility-checked 189 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:37:17 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.048[m] 2.160[deg]	[grasp_sample.py: 539]
+05/13 16:37:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:37:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:37:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:37:21 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.706[m] 84.411[deg]	[grasp_sample.py: 539]
+05/13 16:37:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:37:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:37:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:37:27 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:37:27 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=2.19s:
+  episode_total: mean=80.77s, total=242.32s, count=3, min=5291.5ms, max=133409.6ms
+  sensor_polling: mean=389.0ms, total=175.06s, count=450, min=361.6ms, max=838.0ms
+  physics_step: mean=22.6ms, total=10.19s, count=450, min=16.3ms, max=35.1ms
+  task_sampling: mean=731.0ms, total=2.19s, count=3, min=485.3ms, max=953.3ms
+  task_specific_sample: mean=727.4ms, total=2.18s, count=3, min=481.9ms, max=949.3ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=481.0us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.0us, 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 16:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:37:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:37:29 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 16:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:37:29 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 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122289m	[env.py: 870]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46848288 -1.07278638 -0.12228927] yaw=-79.0deg	[env.py: 1019]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms	[env.py: 1075]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -1.073, -0.122)	[env.py: 1079]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.0 deg	[env.py: 1082]
+05/13 16:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:37:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:37:29 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:37:30 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 16:37:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 341 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:37:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.290s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:37:40 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.669[m] 106.220[deg]	[grasp_sample.py: 539]
+05/13 16:37:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:37:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:37:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:37:41 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 16:38:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:38:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:38:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:38:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:38:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:38:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:38:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:38:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:38:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:39:09 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:39:20 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:39:35 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:39:35 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:39:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:39:35 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 16:39:46 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:39:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:39:46 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 16:39:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:39:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:39:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.87s (batch: 4.56s, save: 10.31s)	[pipeline.py: 300]
+05/13 16:39:51 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.97s:
+  episode_total: mean=91.37s, total=182.75s, count=2, min=8424.0ms, max=174323.6ms
+  sensor_polling: mean=413.9ms, total=115.05s, count=278, min=381.6ms, max=824.4ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10313.0ms, max=10313.0ms
+  physics_step: mean=23.0ms, total=6.39s, count=278, min=21.2ms, max=41.0ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4555.7ms, max=4555.7ms
+  task_sampling: mean=483.5ms, total=966.9ms, count=2, min=431.0ms, max=535.9ms
+  task_specific_sample: mean=479.5ms, total=959.1ms, count=2, min=427.8ms, max=531.3ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=505.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  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 16:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:39:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:39:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:39:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:39:52 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 16:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:39:52 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 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154028m	[env.py: 870]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26517974 -1.08448613 -0.15402835] yaw=-44.3deg	[env.py: 1019]
+05/13 16:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71737576 -0.9548853  -0.15402835] yaw=-46.7deg	[env.py: 1019]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.73960194 -0.68009805 -0.15402835] yaw=-53.0deg	[env.py: 1019]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.5ms, total=242.6ms	[env.py: 1075]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.084, -0.154)	[env.py: 1079]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg	[env.py: 1082]
+05/13 16:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 16:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:39:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:39:53 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:39:53 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 16:39:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:39:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:39:59 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.712[m] 87.389[deg]	[grasp_sample.py: 539]
+05/13 16:39:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:39:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:39:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:40:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:40:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:40:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:40:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.67s (batch: 4.37s, save: 10.31s)	[pipeline.py: 300]
+05/13 16:40:01 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:40:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:40:01 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 16:40:01 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.48s:
+  episode_total: mean=167.16s, total=167.16s, count=1, min=167160.9ms, max=167160.9ms
+  sensor_polling: mean=397.2ms, total=109.63s, count=276, min=378.5ms, max=772.5ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10307.9ms, max=10307.9ms
+  physics_step: mean=22.9ms, total=6.31s, count=276, min=16.4ms, max=30.8ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.5ms, max=4366.5ms
+  task_sampling: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
+  task_specific_sample: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:40:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:40:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:40:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:40:03 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 16:40:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:40:03 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 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100827m	[env.py: 870]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:40:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24733563 -1.30841026 -0.100827  ] yaw=-27.8deg	[env.py: 1019]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75543357 -0.8956299  -0.100827  ] yaw=-97.4deg	[env.py: 1019]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:40:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=197.3ms, total=197.3ms	[env.py: 1075]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -1.308, -0.101)	[env.py: 1079]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg	[env.py: 1082]
+05/13 16:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:40:03 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:40:03 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 16:40:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:40:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:40:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 79.419[deg]	[grasp_sample.py: 539]
+05/13 16:40:07 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:40:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:40:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:40:08 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 16:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:40:08 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 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192664m	[env.py: 870]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85725869 -0.90639172 -0.19266359] yaw=-106.7deg	[env.py: 1019]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47543184 -1.07257277 -0.19266359] yaw=-72.9deg	[env.py: 1019]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.74798071 -0.88706236 -0.19266359] yaw=-93.2deg	[env.py: 1019]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms	[env.py: 1075]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.857, -0.906, -0.193)	[env.py: 1079]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.7 deg	[env.py: 1082]
+05/13 16:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:40:09 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:40:09 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 16:40:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 341 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:40:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:40:10 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.665[m] 97.248[deg]	[grasp_sample.py: 539]
+05/13 16:40:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:40:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:40:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:40:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:40:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:40:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.48s (batch: 4.19s, save: 9.29s)	[pipeline.py: 300]
+05/13 16:40:15 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.76s:
+  episode_total: mean=166.35s, total=166.35s, count=1, min=166354.1ms, max=166354.1ms
+  sensor_polling: mean=385.9ms, total=103.05s, count=267, min=361.0ms, max=789.1ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.2ms, max=9287.2ms
+  physics_step: mean=23.6ms, total=6.29s, count=267, min=16.5ms, max=32.4ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.3ms, max=4192.3ms
+  task_sampling: mean=759.2ms, total=759.2ms, count=1, min=759.2ms, max=759.2ms
+  task_specific_sample: mean=755.1ms, total=755.1ms, count=1, min=755.1ms, max=755.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=448.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.1us, 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 16:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:40:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:40:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:40:16 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 16:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:40:16 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 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146666m	[env.py: 870]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.6ms, total=222.6ms	[env.py: 1105]
+05/13 16:40:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:40:17 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 16:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:40:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:40:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:40:18 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 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141586m	[env.py: 870]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42614614 -0.98824735 -0.14158608] yaw=-49.9deg	[env.py: 1019]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.81826756 -0.79635344 -0.14158608] yaw=-59.3deg	[env.py: 1019]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24586665 -1.00723338 -0.14158608] yaw=-26.3deg	[env.py: 1019]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:40:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.5ms	[env.py: 1075]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.988, -0.142)	[env.py: 1079]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg	[env.py: 1082]
+05/13 16:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:40:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:40:18 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:40:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:40:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:40:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:40:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:40:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.053s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:40:23 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.691[m] 89.418[deg]	[grasp_sample.py: 539]
+05/13 16:40:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:40:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:40:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:40:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:40:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:40:43 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 16:40:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:40:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:40:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:40:44 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.530[m] 72.356[deg]	[grasp_sample.py: 539]
+05/13 16:40:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:40:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:40:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:40:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:41:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:41:00 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 16:41:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:41:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:41:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:41:02 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.526[m] 71.663[deg]	[grasp_sample.py: 539]
+05/13 16:41:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:41:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:41:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:16 INFO: [Worker 0] Object is not in grasp! 0.00100 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:41:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:41:16 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 16:41:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:41:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 144 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:41:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:41:17 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 16:41:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:41:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:41:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:41:19 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.526[m] 71.664[deg]	[grasp_sample.py: 539]
+05/13 16:41:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:41:19 INFO: [Worker 0] Feasibility-checked 144 grasps in 2.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:41:19 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 1.554[deg]	[grasp_sample.py: 539]
+05/13 16:41:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:41:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:41:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:41:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:41:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:41:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:41:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:41:32 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:41:32 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=False episode_total=0.86s:
+  episode_total: mean=43.84s, total=87.68s, count=2, min=4310.8ms, max=83365.7ms
+  sensor_polling: mean=455.3ms, total=32.78s, count=72, min=385.3ms, max=727.0ms
+  physics_step: mean=22.5ms, total=1.62s, count=72, min=14.2ms, max=27.4ms
+  task_sampling: mean=429.6ms, total=859.2ms, count=2, min=371.3ms, max=487.9ms
+  task_specific_sample: mean=426.0ms, total=852.0ms, count=2, min=368.0ms, max=484.0ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=441.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:41:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:41:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:41:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:41:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:41:33 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 16:41:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:41:33 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 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135140m	[env.py: 870]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:41:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51207612 -1.06082727 -0.13513999] yaw=-47.4deg	[env.py: 1019]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:41:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms	[env.py: 1075]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.061, -0.135)	[env.py: 1079]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg	[env.py: 1082]
+05/13 16:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:41:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:41:34 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:41:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:41:34 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 16:41:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:41:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:41:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:41:37 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.619[m] 81.141[deg]	[grasp_sample.py: 539]
+05/13 16:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:41:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:41:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:41:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:42:14 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:42:18 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:42:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:42:42 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:42:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:42:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 16:42:45 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:42:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:42:45 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 16:42:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:42:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:42:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:42:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:42:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.44s (batch: 4.06s, save: 9.37s)	[pipeline.py: 300]
+05/13 16:42:59 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.54s:
+  episode_total: mean=80.67s, total=161.34s, count=2, min=235.4ms, max=161105.3ms
+  sensor_polling: mean=388.2ms, total=106.37s, count=274, min=369.3ms, max=807.2ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9374.1ms, max=9374.1ms
+  physics_step: mean=22.7ms, total=6.22s, count=274, min=16.4ms, max=35.2ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4061.8ms, max=4061.8ms
+  task_specific_sample: mean=383.2ms, total=766.4ms, count=2, min=229.4ms, max=537.0ms
+  task_sampling: mean=539.8ms, total=539.8ms, count=1, min=539.8ms, max=539.8ms
+  task_sampling_failed: mean=235.3ms, total=235.3ms, count=1, min=235.3ms, max=235.3ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=437.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, 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 16:43:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:00 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 16:43:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:00 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 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155120m	[env.py: 870]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:43:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:43:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 17.93s (batch: 6.93s, save: 11.00s)	[pipeline.py: 300]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17165926 -1.36654392 -0.15511983] yaw=-23.5deg	[env.py: 1019]
+05/13 16:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44804113 -0.7598821  -0.15511983] yaw=-42.1deg	[env.py: 1019]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.3ms, total=239.3ms	[env.py: 1075]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.172, -1.367, -0.155)	[env.py: 1079]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.5 deg	[env.py: 1082]
+05/13 16:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 16:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:01 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:01 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 16:43:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:01 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.59s:
+  episode_total: mean=188.95s, total=188.95s, count=1, min=188948.1ms, max=188948.1ms
+  sensor_polling: mean=407.7ms, total=122.31s, count=300, min=382.8ms, max=781.2ms
+  save_trajectories: mean=11.00s, total=11.00s, count=1, min=10998.0ms, max=10998.0ms
+  save_batch_prep: mean=6.93s, total=6.93s, count=1, min=6934.6ms, max=6934.6ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=17.5ms, max=60.5ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.8us, 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 16:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:04 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 16:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:04 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 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101519m	[env.py: 870]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45961267 -0.97016388 -0.10151882] yaw=-31.7deg	[env.py: 1019]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.750s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:43:04 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.647[m] 80.301[deg]	[grasp_sample.py: 539]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=522.1ms, total=522.2ms	[env.py: 1075]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.970, -0.102)	[env.py: 1079]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg	[env.py: 1082]
+05/13 16:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:04 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:05 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 16:43:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:05 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:43:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:07 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 16:43:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:07 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 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118971m	[env.py: 870]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38227986 -0.80856862 -0.11897052] yaw=-75.8deg	[env.py: 1019]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61250013 -0.93234657 -0.11897052] yaw=-88.6deg	[env.py: 1019]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=331.7ms, total=331.8ms	[env.py: 1075]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -0.809, -0.119)	[env.py: 1079]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.8 deg	[env.py: 1082]
+05/13 16:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:07 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:07 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 16:43:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:43:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.774[m] 83.676[deg]	[grasp_sample.py: 539]
+05/13 16:43:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:43:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:43:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:43:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:43:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.644s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:43:10 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:43:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:11 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 16:43:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133200m	[env.py: 870]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07215431 -1.33564527 -0.13320002] yaw=-47.6deg	[env.py: 1019]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34681268 -0.90289848 -0.13320002] yaw=-41.2deg	[env.py: 1019]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28357665 -1.12038281 -0.13320002] yaw=-50.4deg	[env.py: 1019]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.1ms, total=108.1ms	[env.py: 1075]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.072, -1.336, -0.133)	[env.py: 1079]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 16:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 16:43:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:12 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:12 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 16:43:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.664s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:43:15 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:43:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:16 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 16:43:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:16 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 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153486m	[env.py: 870]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21637381 -1.12679215 -0.15348588] yaw=-15.8deg	[env.py: 1019]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.3ms, total=214.3ms	[env.py: 1075]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.127, -0.153)	[env.py: 1079]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.8 deg	[env.py: 1082]
+05/13 16:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:16 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:17 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 16:43:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 371 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:43:24 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.749[m] 80.377[deg]	[grasp_sample.py: 539]
+05/13 16:43:25 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:43:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:43:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:43:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:43:27 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 16:43:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:43:27 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 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130915m	[env.py: 870]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:43:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91397613 -0.80022455 -0.13091542] yaw=-61.9deg	[env.py: 1019]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43802007 -0.86917676 -0.13091542] yaw=-52.5deg	[env.py: 1019]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51333049 -0.97037256 -0.13091542] yaw=-82.7deg	[env.py: 1019]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.4ms	[env.py: 1075]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.914, -0.800, -0.131)	[env.py: 1079]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg	[env.py: 1082]
+05/13 16:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:43:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:43:27 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:43:27 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 16:43:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:43:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:43:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.748[m] 93.408[deg]	[grasp_sample.py: 539]
+05/13 16:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:43:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:43:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:43:46 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:43:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:43:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:43:59 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 16:43:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:44:02 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.598[m] 69.798[deg]	[grasp_sample.py: 539]
+05/13 16:44:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:44:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:44:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:10 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:44:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 16:44:10 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 16:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:44:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:44:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:44:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.355s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:44:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.598[m] 69.801[deg]	[grasp_sample.py: 539]
+05/13 16:44:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:44:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:44:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:44:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:44:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.62s (batch: 4.10s, save: 9.52s)	[pipeline.py: 300]
+05/13 16:44:24 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.60s:
+  episode_total: mean=171.22s, total=171.22s, count=1, min=171218.2ms, max=171218.2ms
+  sensor_polling: mean=418.6ms, total=108.84s, count=260, min=365.1ms, max=765.5ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9523.9ms, max=9523.9ms
+  physics_step: mean=24.7ms, total=6.42s, count=260, min=16.3ms, max=35.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4095.3ms, max=4095.3ms
+  task_sampling: mean=599.6ms, total=599.6ms, count=1, min=599.6ms, max=599.6ms
+  task_specific_sample: mean=596.7ms, total=596.7ms, count=1, min=596.7ms, max=596.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=423.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:26 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 16:44:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:26 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 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124537m	[env.py: 870]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0977212  -1.20685123 -0.12453703] yaw=-10.6deg	[env.py: 1019]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:44:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.0ms, total=222.1ms	[env.py: 1075]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.207, -0.125)	[env.py: 1079]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.6 deg	[env.py: 1082]
+05/13 16:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:44:26 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:44:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:44:26 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 16:44:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 369 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.718s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:44:29 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116356m	[env.py: 870]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.2ms, retries=210.1ms, total=210.3ms	[env.py: 1105]
+05/13 16:44:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:44:31 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:44:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:44:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:44:31 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 16:44:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:32 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 16:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:32 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 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106782m	[env.py: 870]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57597109 -0.87477144 -0.10678233] yaw=-60.7deg	[env.py: 1019]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68240404 -0.84183674 -0.10678233] yaw=-67.6deg	[env.py: 1019]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5699614  -0.85458558 -0.10678233] yaw=-79.5deg	[env.py: 1019]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.9ms, total=229.9ms	[env.py: 1075]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.875, -0.107)	[env.py: 1079]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg	[env.py: 1082]
+05/13 16:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:44:33 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:44:33 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 16:44:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.046s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:44:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.598[m] 69.801[deg]	[grasp_sample.py: 539]
+05/13 16:44:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:44:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:44:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:44:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.721[m] 84.086[deg]	[grasp_sample.py: 539]
+05/13 16:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:44:38 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:44:38 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:44:38 INFO: [Worker 0] Worker 0 completed house 1: 14/18 successful episodes	[pipeline.py: 1323]
+05/13 16:44:38 INFO: [Worker 0] [PROFILE] House 1 complete: 14/18 successful, 18 episodes, total_time=6207.53s
+  House averages:
+  episode_total: mean=50.21s, total=3615.00s, count=72, min=221.6ms, max=213640.2ms
+  sensor_polling: mean=422.9ms, total=2162.10s, count=5112, min=349.0ms, max=1033.8ms
+  save_trajectories: mean=10.41s, total=145.72s, count=14, min=9502.6ms, max=11512.3ms
+  physics_step: mean=24.6ms, total=125.84s, count=5112, min=14.2ms, max=112.0ms
+  save_batch_prep: mean=4.33s, total=60.58s, count=14, min=4081.7ms, max=5392.1ms
+  task_sampling: mean=672.7ms, total=43.06s, count=64, min=371.3ms, max=6306.5ms
+  task_specific_sample: mean=549.8ms, total=39.59s, count=72, min=216.3ms, max=1040.5ms
+  scene_load: mean=5.49s, total=5.49s, count=1, min=5489.1ms, max=5489.1ms
+  scene_env_create: mean=3.23s, total=3.23s, count=1, min=3232.0ms, max=3232.0ms
+  task_sampling_failed: mean=288.8ms, total=2.31s, count=8, min=221.6ms, max=347.0ms
+  scene_compile: mean=2.07s, total=2.07s, count=1, min=2066.8ms, max=2066.8ms
+  compile_xml_load: mean=959.9ms, total=959.9ms, count=1, min=959.9ms, max=959.9ms
+  compile_mujoco: mean=946.2ms, total=946.2ms, count=1, min=946.2ms, max=946.2ms
+  scene_randomize: mean=1.8ms, total=131.0ms, count=72, min=1.1ms, max=3.6ms
+  scene_init: mean=127.2ms, total=127.2ms, count=1, min=127.2ms, max=127.2ms
+  compile_aux_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  compile_aux_policy_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  scene_asset_install: mean=62.8ms, total=62.8ms, count=1, min=62.8ms, max=62.8ms
+  compile_robot_add: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  asset_install_grasps: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  mj_forward_sync: mean=467.3us, total=33.6ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_scene: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  policy_setup: mean=20.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 16:44:38 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 16:44:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=6207.53s
+  Worker averages:
+  episode_total: mean=50.21s, total=3615.00s, count=72, min=221.6ms, max=213640.2ms
+  sensor_polling: mean=422.9ms, total=2162.10s, count=5112, min=349.0ms, max=1033.8ms
+  save_trajectories: mean=10.41s, total=145.72s, count=14, min=9502.6ms, max=11512.3ms
+  physics_step: mean=24.6ms, total=125.84s, count=5112, min=14.2ms, max=112.0ms
+  save_batch_prep: mean=4.33s, total=60.58s, count=14, min=4081.7ms, max=5392.1ms
+  task_sampling: mean=672.7ms, total=43.06s, count=64, min=371.3ms, max=6306.5ms
+  task_specific_sample: mean=549.8ms, total=39.59s, count=72, min=216.3ms, max=1040.5ms
+  scene_load: mean=5.49s, total=5.49s, count=1, min=5489.1ms, max=5489.1ms
+  scene_env_create: mean=3.23s, total=3.23s, count=1, min=3232.0ms, max=3232.0ms
+  task_sampling_failed: mean=288.8ms, total=2.31s, count=8, min=221.6ms, max=347.0ms
+  scene_compile: mean=2.07s, total=2.07s, count=1, min=2066.8ms, max=2066.8ms
+  compile_xml_load: mean=959.9ms, total=959.9ms, count=1, min=959.9ms, max=959.9ms
+  compile_mujoco: mean=946.2ms, total=946.2ms, count=1, min=946.2ms, max=946.2ms
+  scene_randomize: mean=1.8ms, total=131.0ms, count=72, min=1.1ms, max=3.6ms
+  scene_init: mean=127.2ms, total=127.2ms, count=1, min=127.2ms, max=127.2ms
+  compile_aux_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  compile_aux_policy_objects: mean=90.9ms, total=90.9ms, count=1, min=90.9ms, max=90.9ms
+  scene_asset_install: mean=62.8ms, total=62.8ms, count=1, min=62.8ms, max=62.8ms
+  compile_robot_add: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  asset_install_grasps: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  mj_forward_sync: mean=467.3us, total=33.6ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_scene: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  policy_setup: mean=20.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 16:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:41 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 16:44:41 INFO: Success count: 14, Total count: 18	[pipeline.py: 1491]
+05/13 16:44:41 INFO: Success rate: 77.78%	[pipeline.py: 1492]
+05/13 16:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:44:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:44:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:44:48 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:44:48 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=2.38s:
+  episode_total: mean=20.49s, total=102.43s, count=5, min=3192.6ms, max=81513.4ms
+  sensor_polling: mean=397.4ms, total=29.41s, count=74, min=370.7ms, max=812.8ms
+  task_sampling: mean=476.1ms, total=2.38s, count=5, min=347.3ms, max=605.7ms
+  task_specific_sample: mean=472.8ms, total=2.36s, count=5, min=344.5ms, max=602.1ms
+  physics_step: mean=19.2ms, total=1.42s, count=74, min=14.3ms, max=24.4ms
+  scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=466.4us, total=2.3ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:44:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:50 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 16:44:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172432m	[env.py: 870]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.7ms, total=224.8ms	[env.py: 1105]
+05/13 16:44:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:44:50 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 16:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:51 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 16:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:51 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 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100802m	[env.py: 870]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.4ms, total=224.4ms	[env.py: 1105]
+05/13 16:44:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:44:52 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 16:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:44:53 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 16:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:44:53 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 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115386m	[env.py: 870]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19205615 -1.3835032  -0.11538637] yaw=-26.6deg	[env.py: 1019]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90597559 -0.87869129 -0.11538637] yaw=-70.4deg	[env.py: 1019]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.1ms, total=233.1ms	[env.py: 1075]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -1.384, -0.115)	[env.py: 1079]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.6 deg	[env.py: 1082]
+05/13 16:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:44:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:44:53 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:44:53 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 16:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:44:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:44:56 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 83.700[deg]	[grasp_sample.py: 539]
+05/13 16:44:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:44:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:44:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:44:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 16:45:19 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:45:46 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:45:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 16:45:46 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/13 16:45:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:45:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:46:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:46:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:46:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:46:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.93s (batch: 5.05s, save: 10.88s)	[pipeline.py: 300]
+05/13 16:46:03 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.90s:
+  episode_total: mean=179.68s, total=179.68s, count=1, min=179675.5ms, max=179675.5ms
+  sensor_polling: mean=411.9ms, total=120.70s, count=293, min=357.0ms, max=825.5ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10878.9ms, max=10878.9ms
+  physics_step: mean=23.8ms, total=6.98s, count=293, min=16.6ms, max=54.8ms
+  save_batch_prep: mean=5.05s, total=5.05s, count=1, min=5052.6ms, max=5052.6ms
+  task_sampling: mean=896.0ms, total=896.0ms, count=1, min=896.0ms, max=896.0ms
+  task_specific_sample: mean=889.0ms, total=889.0ms, count=1, min=889.0ms, max=889.0ms
+  scene_randomize: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms
+  mj_forward_sync: mean=432.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:46:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:46:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:46:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:46:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:46:05 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 16:46:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:46:05 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 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136310m	[env.py: 870]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:46:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41722078 -0.9048818  -0.13631035] yaw=-71.9deg	[env.py: 1019]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02028522 -1.368033   -0.13631035] yaw=-44.0deg	[env.py: 1019]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47754214 -0.93784564 -0.13631035] yaw=-45.6deg	[env.py: 1019]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:46:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.0ms, total=223.0ms	[env.py: 1075]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -0.905, -0.136)	[env.py: 1079]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg	[env.py: 1082]
+05/13 16:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:46:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:46:05 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:46:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:46:05 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 16:46:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:46:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:46:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.226s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:46:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.743[m] 91.243[deg]	[grasp_sample.py: 539]
+05/13 16:46:15 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:46:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:46:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:46:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:46:17 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 16:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:46:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116306m	[env.py: 870]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.82974164 -0.92017765 -0.1163055 ] yaw=-89.8deg	[env.py: 1019]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09568464 -1.41433507 -0.1163055 ] yaw=-24.0deg	[env.py: 1019]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=524.4ms, total=524.4ms	[env.py: 1075]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.830, -0.920, -0.116)	[env.py: 1079]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.8 deg	[env.py: 1082]
+05/13 16:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:46:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:46:17 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:46:17 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 16:46:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:46:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:46:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:46:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.626[m] 102.737[deg]	[grasp_sample.py: 539]
+05/13 16:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:46:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:46:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:48 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 16:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:46:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:46:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:46:54 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 16:46:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:46:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:46:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:46:56 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.487[m] 74.386[deg]	[grasp_sample.py: 539]
+05/13 16:46:58 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:46:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:46:59 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 16:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:46:59 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 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162064m	[env.py: 870]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05516938 -1.18734694 -0.16206403] yaw=-25.0deg	[env.py: 1019]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25638492 -1.11897459 -0.16206403] yaw=-67.5deg	[env.py: 1019]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50107207 -0.86993169 -0.16206403] yaw=-88.7deg	[env.py: 1019]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.5ms, total=317.5ms	[env.py: 1075]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.055, -1.187, -0.162)	[env.py: 1079]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.0 deg	[env.py: 1082]
+05/13 16:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:00 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:00 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 16:47:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:47:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.799s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:47:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:04 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 16:47:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:04 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 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103174m	[env.py: 870]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.1ms, total=262.2ms	[env.py: 1105]
+05/13 16:47:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:47:04 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:07 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 16:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:07 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 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193562m	[env.py: 870]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0991558  -1.33270571 -0.1935618 ] yaw=-42.6deg	[env.py: 1019]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.6ms, total=249.6ms	[env.py: 1075]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.333, -0.194)	[env.py: 1079]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg	[env.py: 1082]
+05/13 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:07 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:08 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 16:47:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:47:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:47:15 INFO: [Worker 0] Feasible grasp found 129 (originally 129): w/ 0.675[m] 98.296[deg]	[grasp_sample.py: 539]
+05/13 16:47:16 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/13 16:47:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 16:47:16 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 16:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:47:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 16:47:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_001	[save_utils.py: 785]
+05/13 16:47:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.73s (batch: 4.19s, save: 9.54s)	[pipeline.py: 300]
+05/13 16:47:30 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.51s:
+  episode_total: mean=52.55s, total=157.66s, count=3, min=234.5ms, max=157192.5ms
+  sensor_polling: mean=382.1ms, total=103.16s, count=270, min=359.0ms, max=791.0ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9537.3ms, max=9537.3ms
+  physics_step: mean=22.8ms, total=6.16s, count=270, min=16.6ms, max=29.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.9ms, max=4191.9ms
+  task_specific_sample: mean=323.5ms, total=970.5ms, count=3, min=230.2ms, max=509.6ms
+  task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms
+  task_sampling_failed: mean=234.8ms, total=469.5ms, count=2, min=234.5ms, max=235.0ms
+  scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.2ms, max=1.8ms
+  mj_forward_sync: mean=426.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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 16:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:31 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 16:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:31 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 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108541m	[env.py: 870]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 7.65687917e-04 -1.29008192e+00 -1.08540872e-01] yaw=-31.8deg	[env.py: 1019]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56456194 -0.79182567 -0.10854087] yaw=-57.6deg	[env.py: 1019]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.2ms, total=241.2ms	[env.py: 1075]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.001, -1.290, -0.109)	[env.py: 1079]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg	[env.py: 1082]
+05/13 16:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 16:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:32 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:32 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 16:47:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 367 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:47:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.702s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:47:35 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:47:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:36 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 16:47:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:36 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 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136834m	[env.py: 870]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=283.7ms, total=283.8ms	[env.py: 1105]
+05/13 16:47:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:47:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:38 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 16:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:38 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 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150228m	[env.py: 870]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17215531 -1.18795681 -0.150228  ] yaw=-37.6deg	[env.py: 1019]
+05/13 16:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6116976  -0.96192718 -0.150228  ] yaw=-71.2deg	[env.py: 1019]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=538.6ms, total=538.6ms	[env.py: 1075]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.172, -1.188, -0.150)	[env.py: 1079]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/13 16:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/13 16:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:39 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:39 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 16:47:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 361 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:47:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:47:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.693[m] 79.702[deg]	[grasp_sample.py: 539]
+05/13 16:47:43 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:44 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 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179357m	[env.py: 870]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.7ms, total=262.7ms	[env.py: 1105]
+05/13 16:47:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:47:45 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:47:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:46 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 16:47:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156806m	[env.py: 870]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=405.1ms, total=405.2ms	[env.py: 1105]
+05/13 16:47:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:47:46 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:47:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:48 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 16:47:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:48 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 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159854m	[env.py: 870]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56449491 -0.74157598 -0.15985388] yaw=-83.4deg	[env.py: 1019]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.7ms, total=288.8ms	[env.py: 1075]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.742, -0.160)	[env.py: 1079]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.4 deg	[env.py: 1082]
+05/13 16:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:49 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:49 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 16:47:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:47:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.757s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:47:52 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:47:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:47:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:47:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:47:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:47:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:47:53 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 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177672m	[env.py: 870]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:47:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22898314 -1.06723845 -0.17767218] yaw=-46.8deg	[env.py: 1019]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58942672 -0.78759429 -0.17767218] yaw=-54.2deg	[env.py: 1019]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02212175 -1.21269223 -0.17767218] yaw=-41.7deg	[env.py: 1019]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.2ms	[env.py: 1075]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.067, -0.178)	[env.py: 1079]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 16:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:47:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:47:53 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:47:54 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 16:47:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:47:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:48:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:48:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.920s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:48:13 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.719[m] 90.790[deg]	[grasp_sample.py: 539]
+05/13 16:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:48:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:48:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:48:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:48:15 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 16:48:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:48:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178084m	[env.py: 870]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:48:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25738643 -0.93857903 -0.17808406] yaw=-24.6deg	[env.py: 1019]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=307.1ms, total=307.2ms	[env.py: 1075]
+05/13 16:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -0.939, -0.178)	[env.py: 1079]
+05/13 16:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.6 deg	[env.py: 1082]
+05/13 16:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 16:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:48:16 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:48:16 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 16:48:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:48:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 371 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:48:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.769s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:48:19 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:48:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:48:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:48:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:48:20 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 16:48:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:48:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163726m	[env.py: 870]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:48:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.7214489  -0.66496866 -0.16372577] yaw=-77.7deg	[env.py: 1019]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.82994654 -0.82943656 -0.16372577] yaw=-79.4deg	[env.py: 1019]
+05/13 16:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49178367 -0.99189444 -0.16372577] yaw=-79.6deg	[env.py: 1019]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=366.2ms, total=366.2ms	[env.py: 1075]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.721, -0.665, -0.164)	[env.py: 1079]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg	[env.py: 1082]
+05/13 16:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 16:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:48:21 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:48:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:48:21 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 16:48:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:48:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:48:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:48:24 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:48:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:48:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:48:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:48:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:48:25 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 16:48:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:48:25 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 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151175m	[env.py: 870]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:48:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61901441 -0.98691355 -0.15117481] yaw=-90.8deg	[env.py: 1019]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:48:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.6ms	[env.py: 1075]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.987, -0.151)	[env.py: 1079]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.8 deg	[env.py: 1082]
+05/13 16:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:48:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:48:26 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:48:26 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 16:48:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:48:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:48:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:48:28 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.641[m] 99.416[deg]	[grasp_sample.py: 539]
+05/13 16:48:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:48:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:48:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:48:56 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 16:48:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:49:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 16:49:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:49:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:49:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:49:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:49:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.789s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:49:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:49:09 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.523[m] 77.037[deg]	[grasp_sample.py: 539]
+05/13 16:49:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:49:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:49:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:49:09 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 16:49:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:49:09 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 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105054m	[env.py: 870]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:49:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=346.3ms, total=346.3ms	[env.py: 1105]
+05/13 16:49:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:49:09 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:49:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:49:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:49:11 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 16:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:49:11 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 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111733m	[env.py: 870]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.8ms, total=215.9ms	[env.py: 1105]
+05/13 16:49:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 16:49:11 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 16:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:49:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 16:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:49:12 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 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160601m	[env.py: 870]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16421097 -1.05606973 -0.16060115] yaw=-41.5deg	[env.py: 1019]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.0ms	[env.py: 1075]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.056, -0.161)	[env.py: 1079]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg	[env.py: 1082]
+05/13 16:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:49:12 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:49:13 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 16:49:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:49:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:49:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:49:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:49:13 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 16:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:49:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164477m	[env.py: 870]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52804003 -0.87985074 -0.16447697] yaw=-74.0deg	[env.py: 1019]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.4ms, total=256.5ms	[env.py: 1075]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.880, -0.164)	[env.py: 1079]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg	[env.py: 1082]
+05/13 16:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:49:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:49:13 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:49:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:49:14 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 16:49:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:49:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:49:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.926s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:49:16 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:49:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:49:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:49:17 INFO: [Worker 0] Worker 0 completed house 1: 18/19 successful episodes	[pipeline.py: 1323]
+05/13 16:49:17 INFO: [Worker 0] [PROFILE] House 1 complete: 18/19 successful, 19 episodes, total_time=6750.08s
+  House averages:
+  episode_total: mean=53.94s, total=3883.69s, count=72, min=225.2ms, max=188948.1ms
+  sensor_polling: mean=417.8ms, total=2357.50s, count=5642, min=357.0ms, max=845.5ms
+  save_trajectories: mean=10.49s, total=188.81s, count=18, min=9661.1ms, max=12069.7ms
+  physics_step: mean=24.4ms, total=137.84s, count=5642, min=16.3ms, max=100.4ms
+  save_batch_prep: mean=4.64s, total=83.47s, count=18, min=3923.1ms, max=6934.6ms
+  task_sampling: mean=674.6ms, total=43.17s, count=64, min=400.7ms, max=6363.9ms
+  task_specific_sample: mean=549.2ms, total=39.55s, count=72, min=218.8ms, max=1065.0ms
+  scene_load: mean=5.59s, total=5.59s, count=1, min=5590.8ms, max=5590.8ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3085.9ms, max=3085.9ms
+  scene_compile: mean=2.31s, total=2.31s, count=1, min=2306.6ms, max=2306.6ms
+  task_sampling_failed: mean=283.4ms, total=2.27s, count=8, min=225.1ms, max=397.5ms
+  compile_mujoco: mean=1.09s, total=1.09s, count=1, min=1087.9ms, max=1087.9ms
+  compile_xml_load: mean=1.08s, total=1.08s, count=1, min=1075.4ms, max=1075.4ms
+  scene_randomize: mean=2.0ms, total=140.9ms, count=72, min=1.0ms, max=5.3ms
+  scene_init: mean=137.1ms, total=137.1ms, count=1, min=137.1ms, max=137.1ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  compile_robot_add: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  asset_install_grasps: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
+  mj_forward_sync: mean=476.8us, total=34.3ms, count=72, min=0.4ms, max=1.3ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  policy_setup: mean=19.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 16:49:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 16:49:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=6750.08s
+  Worker averages:
+  episode_total: mean=53.94s, total=3883.69s, count=72, min=225.2ms, max=188948.1ms
+  sensor_polling: mean=417.8ms, total=2357.50s, count=5642, min=357.0ms, max=845.5ms
+  save_trajectories: mean=10.49s, total=188.81s, count=18, min=9661.1ms, max=12069.7ms
+  physics_step: mean=24.4ms, total=137.84s, count=5642, min=16.3ms, max=100.4ms
+  save_batch_prep: mean=4.64s, total=83.47s, count=18, min=3923.1ms, max=6934.6ms
+  task_sampling: mean=674.6ms, total=43.17s, count=64, min=400.7ms, max=6363.9ms
+  task_specific_sample: mean=549.2ms, total=39.55s, count=72, min=218.8ms, max=1065.0ms
+  scene_load: mean=5.59s, total=5.59s, count=1, min=5590.8ms, max=5590.8ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3085.9ms, max=3085.9ms
+  scene_compile: mean=2.31s, total=2.31s, count=1, min=2306.6ms, max=2306.6ms
+  task_sampling_failed: mean=283.4ms, total=2.27s, count=8, min=225.1ms, max=397.5ms
+  compile_mujoco: mean=1.09s, total=1.09s, count=1, min=1087.9ms, max=1087.9ms
+  compile_xml_load: mean=1.08s, total=1.08s, count=1, min=1075.4ms, max=1075.4ms
+  scene_randomize: mean=2.0ms, total=140.9ms, count=72, min=1.0ms, max=5.3ms
+  scene_init: mean=137.1ms, total=137.1ms, count=1, min=137.1ms, max=137.1ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  compile_robot_add: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  asset_install_grasps: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
+  mj_forward_sync: mean=476.8us, total=34.3ms, count=72, min=0.4ms, max=1.3ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  policy_setup: mean=19.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 16:49:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 16:49:20 INFO: Success count: 18, Total count: 19	[pipeline.py: 1491]
+05/13 16:49:20 INFO: Success rate: 94.74%	[pipeline.py: 1492]
+05/13 16:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.767s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:49:25 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.732[m] 90.547[deg]	[grasp_sample.py: 539]
+05/13 16:49:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:49:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:49:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:50:34 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 16:50:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:50:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:50:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:50:37 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.134[m] 10.706[deg]	[grasp_sample.py: 539]
+05/13 16:50:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:50:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:50:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:50:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:50:49 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 16:50:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:50:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 358 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:50:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:50:52 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.126[m] 10.461[deg]	[grasp_sample.py: 539]
+05/13 16:50:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:50:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:50:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:50:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:50:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:50:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:50:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:51:04 INFO: [Worker 0] Feasible grasp found 24 (originally 24): w/ 0.172[m] 15.810[deg]	[grasp_sample.py: 539]
+05/13 16:51:05 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 16:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:51:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:51:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:51:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:51:06 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 16:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:51:06 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 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114441m	[env.py: 870]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36838896 -0.87856444 -0.11444097] yaw=-27.2deg	[env.py: 1019]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=739.6ms, total=739.6ms	[env.py: 1075]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.879, -0.114)	[env.py: 1079]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg	[env.py: 1082]
+05/13 16:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/13 16:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:51:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:51:07 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:51:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:51:07 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 16:51:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:51:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:51:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.945s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 16:51:10 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 16:51:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 16:51:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 16:51:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:51:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 16:51:14 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 16:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 16:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705)	[env.py: 845]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198361m	[env.py: 870]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 16:51:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.88207893 -0.93307253 -0.1983605 ] yaw=-60.8deg	[env.py: 1019]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 16:51:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.4ms, total=206.5ms	[env.py: 1075]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.882, -0.933, -0.198)	[env.py: 1079]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 16:51:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 16:51:14 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 16:51:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 16:51:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 16:51:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:51:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:51:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.583s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:51:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.592[m] 92.632[deg]	[grasp_sample.py: 539]
+05/13 16:51:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:51:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:51:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:51:17 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 16:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:51:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:51:45 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 16:51:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:51:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:51:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.206s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:51:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.458[m] 65.239[deg]	[grasp_sample.py: 539]
+05/13 16:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:51:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:51:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:51:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:51:59 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 16:51:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:52:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:52:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.191s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:52:01 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.455[m] 64.481[deg]	[grasp_sample.py: 539]
+05/13 16:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:52:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:52:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:52:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 16:52:13 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 16:52:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 16:52:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps	[grasp_sample.py: 465]
+05/13 16:52:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.174s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 16:52:15 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.455[m] 64.481[deg]	[grasp_sample.py: 539]
+05/13 16:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 16:52:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 16:52:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 16:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 16:52:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 16:52:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 16:52:28 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 16:52:28 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=6.15s:
+  episode_total: mean=19.72s, total=276.12s, count=14, min=225.5ms, max=111738.3ms
+  sensor_polling: mean=388.2ms, total=110.24s, count=284, min=364.4ms, max=830.6ms
+  task_specific_sample: mean=521.9ms, total=7.31s, count=14, min=222.0ms, max=1149.5ms
+  task_sampling: mean=615.2ms, total=6.15s, count=10, min=377.0ms, max=1152.6ms
+  physics_step: mean=21.2ms, total=6.03s, count=284, min=14.4ms, max=28.2ms
+  task_sampling_failed: mean=302.0ms, total=1.21s, count=4, min=225.5ms, max=417.2ms
+  scene_randomize: mean=1.5ms, total=21.2ms, count=14, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=429.4us, total=6.0ms, count=14, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.2ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 16:52:29 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:52:29 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/13 16:52:29 INFO: [Worker 0] Worker 0 completed house 1: 18/23 successful episodes	[pipeline.py: 1323]
+05/13 16:52:29 INFO: [Worker 0] [PROFILE] House 1 complete: 18/23 successful, 23 episodes, total_time=7056.81s
+  House averages:
+  episode_total: mean=56.84s, total=4092.64s, count=72, min=220.4ms, max=197568.1ms
+  sensor_polling: mean=392.9ms, total=2463.36s, count=6270, min=323.9ms, max=917.2ms
+  save_trajectories: mean=10.14s, total=182.48s, count=18, min=9248.5ms, max=11294.9ms
+  physics_step: mean=23.2ms, total=145.74s, count=6270, min=14.3ms, max=65.7ms
+  save_batch_prep: mean=4.19s, total=75.50s, count=18, min=3815.8ms, max=4672.5ms
+  task_sampling: mean=675.2ms, total=41.86s, count=62, min=347.3ms, max=6531.5ms
+  task_specific_sample: mean=536.8ms, total=38.65s, count=72, min=215.6ms, max=1149.5ms
+  scene_load: mean=5.64s, total=5.64s, count=1, min=5639.0ms, max=5639.0ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3088.9ms, max=3088.9ms
+  task_sampling_failed: mean=269.2ms, total=2.69s, count=10, min=220.3ms, max=417.2ms
+  scene_compile: mean=2.32s, total=2.32s, count=1, min=2319.1ms, max=2319.1ms
+  compile_xml_load: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=1.07s, total=1.07s, count=1, min=1066.5ms, max=1066.5ms
+  scene_init: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_randomize: mean=1.8ms, total=128.3ms, count=72, min=1.1ms, max=3.3ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_aux_policy_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  mj_forward_sync: mean=446.5us, total=32.1ms, count=72, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms
+  asset_install_scene: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  policy_setup: mean=17.7us, total=1.1ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 16:52:29 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 16:52:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 23 episodes, total_time=7056.81s
+  Worker averages:
+  episode_total: mean=56.84s, total=4092.64s, count=72, min=220.4ms, max=197568.1ms
+  sensor_polling: mean=392.9ms, total=2463.36s, count=6270, min=323.9ms, max=917.2ms
+  save_trajectories: mean=10.14s, total=182.48s, count=18, min=9248.5ms, max=11294.9ms
+  physics_step: mean=23.2ms, total=145.74s, count=6270, min=14.3ms, max=65.7ms
+  save_batch_prep: mean=4.19s, total=75.50s, count=18, min=3815.8ms, max=4672.5ms
+  task_sampling: mean=675.2ms, total=41.86s, count=62, min=347.3ms, max=6531.5ms
+  task_specific_sample: mean=536.8ms, total=38.65s, count=72, min=215.6ms, max=1149.5ms
+  scene_load: mean=5.64s, total=5.64s, count=1, min=5639.0ms, max=5639.0ms
+  scene_env_create: mean=3.09s, total=3.09s, count=1, min=3088.9ms, max=3088.9ms
+  task_sampling_failed: mean=269.2ms, total=2.69s, count=10, min=220.3ms, max=417.2ms
+  scene_compile: mean=2.32s, total=2.32s, count=1, min=2319.1ms, max=2319.1ms
+  compile_xml_load: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=1.07s, total=1.07s, count=1, min=1066.5ms, max=1066.5ms
+  scene_init: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_randomize: mean=1.8ms, total=128.3ms, count=72, min=1.1ms, max=3.3ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_aux_policy_objects: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms
+  compile_robot_add: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  mj_forward_sync: mean=446.5us, total=32.1ms, count=72, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms
+  asset_install_scene: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  policy_setup: mean=17.7us, total=1.1ms, count=62, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 16:52:32 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 16:52:32 INFO: Success count: 18, Total count: 23	[pipeline.py: 1491]
+05/13 16:52:32 INFO: Success rate: 78.26%	[pipeline.py: 1492]
diff --git a/3drawers/sim_chunks/chunk_001/trajectories_batch_1_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_001/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7b72bab46082bf665ba2e24519825dc09fc2def
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e1a8afe72ae117e81d04495ed27dc2fa8494c309fb9e5764a939b378672a87
+size 965291826
diff --git a/3drawers/sim_chunks/chunk_001/trajectories_batch_2_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_001/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e183c7fd8fc387e4bb880301405b3169996faca
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/trajectories_batch_2_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d0d7add70811778bc5c13ed2999e76dd279c78b32fcb6a853bd761ba560cd4
+size 1229394389
diff --git a/3drawers/sim_chunks/chunk_001/trajectories_batch_3_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_001/trajectories_batch_3_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ef575d94a2dfc13f3173615e9948696738760586
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/trajectories_batch_3_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545b7109df4da989e6ad1a656a53090b8ecc884b0d212e536b88ac85cd5959ce
+size 1248437326
diff --git a/3drawers/sim_chunks/chunk_001/trajectories_batch_4_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_001/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ef160eee447c1d698f8af5b54e839fffc665d805
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_001/trajectories_batch_4_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044a98fdc0aeee72d6a86b06ddb75e3dbec6dfdb2272e811debccec7e19d2d83
+size 611761622